Synthesis of a Path-Planning Algorithm for Autonomous Robots Moving in a Game Environment during Collision Avoidance

This paper describes and illustrates the optimization of a safe mobile robot control process in collision situations using the model of a multistep matrix game of many participants in the form of a dual linear programming problem. The synthesis of non-cooperative and cooperative game control software was performed in Matlab/Simulink software to determine the safe path of the robot when passing a greater number of other robots and obstacles. The operation of the game motion control algorithm of a mobile robot is illustrated by computer simulations made in the Matlab/Simulink program of two real previously recorded navigation situations while passing dozens of other autonomous mobile robots.

Automated summary

This study describes the optimization of safe robot control in collision situations using a dual linear programming problem model and synthesizing non-cooperative and cooperative game control software. The operation of the game motion control algorithm of a mobile robot is demonstrated through computer simulations in Matlab/Simulink software, showcasing the safe path determination when passing multiple robots and obstacles.