计算机工程与应用 ›› 2009, Vol. 45 ›› Issue (6): 216-218.DOI: 10.3778/j.issn.1002-8331.2009.06.062

• 工程与应用 • 上一篇    下一篇

基于博弈论的多移动机器人聚集任务路径规划

叶 晔,岑豫皖,谢能刚   

  1. 安徽工业大学 机械工程学院,安徽 马鞍山 243002
  • 收稿日期:2008-01-14 修回日期:2008-04-24 出版日期:2009-02-21 发布日期:2009-02-21
  • 通讯作者: 叶 晔

Path planning of flocking task for multiple mobile robots based on game theory

YE Ye,CEN Yu-wan,XIE Neng-gang   

  1. School of Mechanical Engineering,Anhui University of Technology,Ma’anshan,Anhui 243002,China
  • Received:2008-01-14 Revised:2008-04-24 Online:2009-02-21 Published:2009-02-21
  • Contact: YE Ye

摘要: 针对多移动机器人聚集任务的路径规划,建立系统多目标优化数学模型,研究基于博弈论的求解方法。将n个机器人视为博弈的n方,建立Nash均衡博弈模型和共谋合作博弈模型,结合进化策略,对多移动机器人的运动协调进行研究。仿真实验结果表明,博弈分析方法可有效解决多机器人的协调路径规划问题。

关键词: 多移动机器人, 聚集任务, Nash均衡博弈, 共谋合作博弈

Abstract: For the path planning of flocking task for multiple mobile robots,it establishes multi-objective optimal mathematic model and does research on solving methods based on game theory.N robots specify n players and it establishes Nash equilibrium model and coalition cooperative game model.Then combining evolutionary strategy,it studies coordinationed route planning for multiple mobile robots.Simulations validate the feasibility of the game-theoretic coordinated route planning for multiple robots.

Key words: multiple mobile robots, flocking task, Nash equilibrium, coalition cooperative game