Multi-Robot Path Planning Using Nash Equilibrium Based Game Theory
S. Shakthi Priyadharshini, P. Supriya · 2023
With, human life becomes more and more reliant on robots, accurate path planning of the robot is essential. The utility and significance of a multi-robot system are determined by its ability to reach the desired location and complete the given task. Therefore, the proposed approach using game theory for multi robot path planning holds great potential for improving the efficiency and safety of robotic systems in a variety of applications. The proposed system consists of two robots that will follow a predetermined path. To select the robot, the electrical battery level and mechanical robustness are considered, and the best performing robot will be selected. Based on the performance scores for the battery level and the score for mechanical robustness a Game Theory algorithm is implemented based on Nash equilibrium to achieve optimal path planning, which treats each robot as a player in a game. A Nash equilibrium is a specific condition of Game Theory where no robot can improve its outcome by changing its strategy. The work is implemented on two robots in the laboratory.