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Accrochage immatériel sûr et précis de véhicules automatiques

Jano Yazbeck 1
1 MAIA - Autonomous intelligent machine
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : This thesis deals with the platooning problem which aims to concieve a control algorithm allowing a convoy of vehicles to follow their leader's path. This path, which is initially undefined and unknown to all the following robots, is generated as the leader moves. In this thesis, we choose a local decentralized approach in which each robot of the platoon uses its local perceptions to compute its own commands aiming to achieve a stable (no oscillations) and precise (with a lateral error as small as possible) platooning. More precisely, this thesis studies the lateral behavior of a platoon's robot and introduces two controllers based on the memorization of the robot's predecessor's path. The first algorithm, Memo-LAT (Memorization and Look-Ahead Target), computes a continuous lateral command using an analytic control law. As the stability of Memo-LAT is not always guaranteed, we present NOC (Non-Oscillatory Convergence), a control algorithm which takes into account the path's curvature in the robot's lateral behavior's computation. NOC combines a geometric approach to a heuristic search method to compute a discrete command allowing the robot to follow precisely and without oscillations its predecessor's path.
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https://hal.inria.fr/tel-01750793
Contributor : Jano Yazbeck <>
Submitted on : Wednesday, October 15, 2014 - 4:54:50 PM
Last modification on : Tuesday, December 18, 2018 - 4:40:21 PM
Long-term archiving on: : Friday, January 16, 2015 - 10:42:29 AM

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  • HAL Id : tel-01750793, version 2

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Jano Yazbeck. Accrochage immatériel sûr et précis de véhicules automatiques. Intelligence artificielle [cs.AI]. Université de Lorraine, 2014. Français. ⟨NNT : 2014LORR0070⟩. ⟨tel-01750793v2⟩

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