Game-Theoretical Strategy of Robot in the Area with Dynamical Obstacles

TL;DR

This paper explores a game-theoretical approach to robot control in environments with dynamic obstacles, aiming to optimize movement speed and trajectory planning for efficient autonomous operation.

Contribution

It introduces a novel game-theoretical framework for robot trajectory planning amidst moving obstacles, enhancing control efficiency in dynamic environments.

Findings

Improved trajectory planning accuracy in dynamic obstacle scenarios

Enhanced control speed close to optimal in autonomous robot tasks

Demonstrated effectiveness of the game-theoretical approach in simulations

Abstract

The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two subproblems solved separately. In an autonomous regime the trajectory planning is fulfilled for providing the robot movement time close to the minimal.