Cooperative navigation of unknown environments using potential games
by George Philip; Sidney N. Givigi Jr.; Howard M. Schwartz
International Journal of Mechatronics and Automation (IJMA), Vol. 4, No. 3, 2014

Abstract: In this paper, we develop a method of exploring a 2-D environment with multiple robots by modelling the problem as a potential game rather than using conventional frontier-based dynamic programming algorithms. A potential game is a type of game that results in coordinated behaviours amongst players. This is done by enforcing strict rules for each player in selecting an action from its action set. As part of this game, we define a potential function for the game that is meaningful in terms of achieving the greater objective of exploring a space. Furthermore, an objective function is assigned for each player from this potential function. We then create an algorithm for the exploration of an obstacle-filled bounded space, and demonstrate through simulation how it outperforms an uncoordinated algorithm by reducing the time needed to uncover the space. Analysis of the computational complexity of the algorithm will show that the algorithm is of O(sRange²), where sRange is the range of a sensor on a robot. We then suggest an improvement to the proposed algorithm that is premised on having a robot predict the future positions of all other robots.

Online publication date: Thu, 04-Sep-2014

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com