Obstacle Avoidance Formation Control of Unmanned Ground Vehicles Based on a Game-Theoretic Approach
Ziming Zhang, Ruixuan Jia, Xiaoming Chen, Shuyi Shao · 2023
In this paper, the obstacle avoidance formation control problem of unmanned ground vehicles(UGVs) is discussed with a game-theoretic approach. Specifically, each UGV needs to track the target point and avoid obstacles in real-time while the UGVs system is in cooperative formation. Based on the Nash equilibrium seeking method, the UGVs formation problem is transformed into a non-cooperative game problem among UGVs, an obstacle avoidance term is added to the cost function and a controller is designed. It is proved that under the action of the designed controller, the UGVs system can achieve the formation mode of goal equilibrium. Finally, the validity of the results is attested by simulation.