Synthesis of a Path-Planning Algorithm for Autonomous Robots Moving in a Game Environment during Collision Avoidance
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This paper describes and illustrates the optimization of a safe mobile robot control process in collision situations using the model of a multistep matrix game of many participants in the form of a dual linear programming problem. The synthesis of non-cooperative and cooperative game control software was performed in Matlab/Simulink software to determine the safe path of the robot when passing a greater number of other robots and obstacles. The operation of the game motion control algorithm of a mobile robot is illustrated by computer simulations made in the Matlab/Simulink program of two real previously recorded navigation situations while passing dozens of other autonomous mobile robots.
2018 ◽
Vol 45
(5)
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pp. 688-702
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2018 ◽
Vol 133
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pp. 456-463
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