Two Agent Paths Planning Collaboration Based on the State Feedback Stackelberg Dynamic Game

Sousso Kelouwani

Hydrogen Research Institute, Department of Mechanical Engineering, Université du Québec à Trois-Rivières, Trois-Rivières, Canada.

DOI: 10.4236/ojop.2013.23009                

Abstract

Autonomous Navigation Modules are capable of driving a robotic platform without human direct participation. It is usual to have more than one Autonomous Navigation Modules in the same work space. When an emergency situation occurs, these modules should achieve a desired formation in order to efficiently escape and avoid motion deadlock. We address the collaboration problem between two agents such as Autonomous Navigation Modules. A new approach for team collaborative control based on the incentive Stackelberg game theory is presented. The procedure to find incentive matrices is provided for the case of geometric trajectory planning and following. A collaborative robotic architecture based on this approach is proposed. Simulation results performed with two virtual robotic platforms show the efficiency of this approach.

Keywords

Robotic Architecture; Share Control; Stackelberg Game; Cooperative Control; Collaborative Control

Conflicts of Interest

The authors declare no conflicts of interest.

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