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

doi:10.3778/j.issn.1002-8331.2009.06.062

Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (6): 216-218.DOI: 10.3778/j.issn.1002-8331.2009.06.062

• 工程与应用 • Previous Articles Next Articles

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

YE Ye,CEN Yu-wan,XIE Neng-gang

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

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

安徽工业大学机械工程学院，安徽马鞍山 243002

通讯作者: 叶晔

Abstract

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

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

YE Ye,CEN Yu-wan,XIE Neng-gang. Path planning of flocking task for multiple mobile robots based on game theory[J]. Computer Engineering and Applications, 2009, 45(6): 216-218.

叶晔,岑豫皖,谢能刚. 基于博弈论的多移动机器人聚集任务路径规划[J]. 计算机工程与应用, 2009, 45(6): 216-218.

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

基于博弈论的多移动机器人聚集任务路径规划

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