Modélisation et Analyse des comportements d’une société d’agents mobiles à l’aide des réseaux de Petri
Adel Djellal · HAL (Le Centre pour la Communication Scientifique Directe) · 2016
This thesis presents theoretical and implemented design and validation of search techniques, done by robot society, in pursue of evaders in various environments. The environment was topologically modeled by graphs of connected areas. The results of the proposed techniques, and the optimization of needed number for clearing operation, were validated using Petri nets. For the robot navigation problem between different areas, navigation techniques based on potential field propagation were anticipated to generate trajectories, safe in one hand (distant from obstacles) and fast in the other hand, to reach target. The validation of the proposed techniques was done using simulation platform MobotSim on designed and real environments in one hand, and a real hardware platform composed of two POB-Bot robots and adapted environments in the other hand.