Co-operative Game Theory Approach for Multi Robotic Path Planning

Abstract

Real time path planning of multi robots system requires developing coordination among robots as well as capabilities for resolving conflicts in the shortest time. It is to be executed in three phases namely decision making, path planning and real time up date. This paper presents cooperative game theory based path planning and execution in the two phases. Cooperative game theory based algorithm is formulated and implemented based on solution technique matrix minmax method. The validation of algorithm is performed with software simulation and hardware emulation. It is expected to coordinate Game Theory based robots path planning can solve some difficulties encountered in the existing Fuzzy Logic based and Genetic Algorithm based methods.