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Table des matières

INTRODUCTION
CHAPTER 1 LITERATURE REVIEW
1.1_ Group Coordination Definitions
1.2_ Multi mobile Robots Applications
1.3_ Trajectory Tracking
1.4_ Coordination Strategies
1.4.1_ Centralized Algorithms
1.4.2_ Decentralized Algorithms
1.5_ Coordination and Control Algorithms
1.5.1_ Virtual Structure
1.5.2_ Behavior Based Methods
1.5.3_ Leader Follower Approaches
1.5.4_ Artificial Potential
1.5.5_ Graph theory Approaches
1.5.6_ Intelligent Control
1.6_ Collision free Coordination
1.7_ Communication
1.8_ Contribution
CHAPTER 2 TRAJECTORY TRACKING CONTROL OF A NONHOLONOMIC MOBILE ROBOT
2.1_ Dynamic Tracking Control of a Nonholonomic Mobile Robot using Exponential Sliding Mode
2.1.1_ Dynamic and Kinematic Modeling of Mobile Robot
2.1.2_ Exponential Sliding Mode Control
2.1.3_ Experimental Results
2.1.3.1_ Experimental Setup
2.1.3.2_ Experimental Tests
2.2_ Trajectory Tracking Based on Lyapunov Technique
2.2.1_ Experimental Results
2.3_ Trajectory Tracking Based on Fuzzy Control
2.3.1_ Trajectory Tracking Problem
2.3.2_ Fuzzy Trajectory Tracking
2.3.3_ Stability Proof of Trajectory Tracking Algorithm
2.3.4_ Experimental Results
2.4_ Conclusion
CHAPTER 3 COORDINATION CONTROL FOR NONHOLONOMIC TEAM OF MOBILE ROBOTS USING EXPONENTIAL SLIDING MODE
3.1_ Coordination Algorithm
3.2_ Experimental Results
3.2.1_ Experimental Setup
3.2.2_ Experimental Tests
3.3_ Conclusion
CHAPTER 4 NONLINEAR COORDINATION CONTROL USING A VIRTUAL STRUCTURE
4.1_ The Lyapunov Control and Coordination Algorithm
4.2_ Coordination Problem
4.3_ Coordination Solution
4.4_ Interconnection of the Trajectory Tracking Subsystem and the Coordination Subsystem
4.5_ Experimental Tests
4.6_ Conclusion
CHAPTER 5 HIERARCHICAL FUZZY COORDINATION CONTROL FOR A TEAM OF MOBILE ROBOTS
5.1_ Modeling of the Mobile Robot
5.2_ Optimized Neuro-Fuzzy Coordination for Multiple Mobile Robots
5.2.1_ Generation of Training Data
5.2.2_ Neuro-Fuzzy Controller Design
5.2.3_ Experimental Results
5.3_ Hierarchical Fuzzy Cooperative Control and Trajectory Tracking for a Team of Mobile Robots
5.3.1_ Fuzzy Trajectory Tracking and the Cooperative Controller
5.3.2_ Stability Proof of the Cooperative Algorithm
5.3.3_ Experimental Results
5.4_ Results Comparison of both the Fuzzy and the Nonlinear Method
5.5_ Conclusion
CHAPTER 6 COORDINATION FOR MULTI MOBILE ROBOTS IN UNKNOWN ENVIRONMENTS
6.1_ Intelligent Crash Avoidance between Multi Mobile Robots
6.1.1_ Fuzzy Coordination and Crash Avoidance Algorithm
6.1.2_ Fuzzy Coordination and the Crash Avoidance
6.1.3_ Experimental Results
6.1.3.1_ Experimental Tests
6.2_ Fuzzy Obstacle Avoidance and the Coordination Algorithm
6.3_ Simulation and Experimental Results
6.3.1_ Simulation Results
6.3.2_ Experimental Results
6.4_ Conclusion