Game Theory based Predictive Control of a Mobile Robot in Dynamic Environment

K. Skrzypczyk (Poland)


Mobile robot, Game Theory, Predictive Control, Naviga tion, Wi-Max.


This paper presents Game Theory based approach to the problem of a mobile vehicle navigation in case the workspace is not static. It is assumed that there is a number of moving objects that are traceable by the vehicle control system. The contribution of this paper is twofold. First, in order to perform the navigation task effectively and in a collision free way the prediction method of fast tracking the objects is designed. The uncertainty and the inaccuracy of the prediction is taken into account and modeled in game theoretic framework. An ef´Čüciency of the proposed approach has been proven by multiple simulation. A few examplary experiments are presented.

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