Differential Gaming approach with safety parameter for Mobile Robot to circumvent a Dynamic Obstacle

摘要

In a Mobile Robot system (MRS) where multitude of autonomous non-holonomic mobile robots move in afield with individual target goals, each robot is seen by another as a dynamic obstacle. In this research work, a differential game (DG) based approach is presented for two mobile robots to dodge each other in an optimal circumvention path. The conventional DG algorithm brings the robots in close encounter since it is completely driven by hard optimality considerations. In real world, the robot may be required to keep safe distance from the other robot for various operational and environmental reasons. To allow for this, the algorithm is modified by addition of a Safety Parameter (SP) which is adjusted to allow for customisation of the circumvention maneuver.Matlab simulation is done using two robots and results obtained with different scenarios are analysed.The results show that DG+SP algorithm delivers better results in terms of avoiding too close encounters of the robots while still giving an optimal circumvention route.