Pursuit-evasion Game for Nonholonomic Mobile Robots With Obstacle Avoidance using NMPC
| Autor: | Ahmad Hably, Mukhtar Sani, Bogdan Robu |
|---|---|
| Přispěvatelé: | GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing (GIPSA-COPERNIC), GIPSA Pôle Sciences des Données (GIPSA-PSD), Grenoble Images Parole Signal Automatique (GIPSA-lab), Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Grenoble Alpes (UGA), GIPSA - Modelling and Optimal Decision for Uncertain Systems (GIPSA-MODUS), GIPSA Pôle Automatique et Diagnostic (GIPSA-PAD) |
| Rok vydání: | 2020 |
| Předmět: |
0301 basic medicine
Computer Science::Computer Science and Game Theory Optimization problem Computer science ComputingMilieux_PERSONALCOMPUTING Pursuer Mobile robot [SPI.AUTO]Engineering Sciences [physics]/Automatic 03 medical and health sciences symbols.namesake 030104 developmental biology 0302 clinical medicine Control theory Nash equilibrium Best response Obstacle avoidance Differential game symbols Pursuit-evasion 030217 neurology & neurosurgery |
| Zdroj: | MED MED 2020-28th Mediterranean Conference on Control and Automation MED 2020-28th Mediterranean Conference on Control and Automation, Sep 2020, Saint-Raphaël, France HAL |
| DOI: | 10.1109/med48518.2020.9182862 |
| Popis: | International audience; In this work, non-cooperative competitive games between two unmanned ground robots using Nonlinear Model Predictive Control (NMPC) while incorporating obstacle avoidance techniques are studied. The objective of the first player (pursuer) is to minimize the relative distance and orientation between itself and the second player (evader) while avoiding obstacles, whereas the evader does the opposite. The Pursuit-Evasion Game (PEG) being a typical class of a differential game is formulated as a zero-sum game with two homogeneous players in five different game scenarios. The objective function of each player is formulated as a double optimization problem and is solved separately using NMPC techniques. The optimal trajectory of each player is computed iteratively by considering the best response of the opponent player. The level of information is assumed to be symmetric. Simulations of various scenarios show the winning possibility of each player. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|