Flocking Task Research for Multiple Mobile Robots Based on Evolutionary Game Model


Article Preview

For flocking task of multiple mobile robots (MMR for short), the paper establishes a multi-objective optimization model and studies a solving method based on game theory. According to evolutionary game theory and taking the dynamic variability of gaming behaviors into account, it proposes a method based on evolutionary game model by using evolutionary rules “In success, commit oneself to the welfare of the society; in distress, maintain one‘s own integrity ”. Then, the paper performs researches on path coordination and obtains the optimum non-collision coordinated paths of flocking task for MMR. The simulation results show that the evolutionary game method can effectively solve coordinated path planning problem for multiple robots. By contrast with Nash equilibrium game model and coalition cooperative game model through computation results, the paper illustrates that the evolutionary game model is the best.



Advanced Materials Research (Volumes 201-203)

Edited by:

Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang




Y. Ye et al., "Flocking Task Research for Multiple Mobile Robots Based on Evolutionary Game Model", Advanced Materials Research, Vols. 201-203, pp. 1845-1848, 2011

Online since:

February 2011




[1] Ping Yan, Mingyue Ding and Changwen Zheng: Chinese journal of Aeronautics Vol. 19 (2006) pp.18-23.

[2] Yuwan Cen, Ye Ye, Nenggang Xie, Jiahan Bao and Chongzhi Song. ICIEA 2008 the 3rd IEEE Conference on industrial Electronics and Applications. Singapore,June,2008:46-48.

DOI: https://doi.org/10.1109/iciea.2008.4582478

[3] Nenggang Xie, Linsong Sun and Hao Fang: Hydro-Science and Engineering Vol. 3 (2006) pp.24-29. ( In Chinese).

[4] Ye Ye , Yuwan Cen and Jiaohan Bao: Journal of Anhui University of Technology Vol . 4 (2007) pp.409-411. ( In Chinese).

Fetching data from Crossref.
This may take some time to load.