基于合作博弈的多机器鱼路径规划  

Path Planning of Multiple Fish Based on Cooperation Game Model

作　　者：冯晓伟[1] 曹友琴[1] 邓彦松[1] 

机构地区：[1]西南民族大学电气信息工程学院,成都610041

出　　处：《兵工自动化》2012年第11期63-65,72,共4页Ordnance Industry Automation

基　　金：西南民族大学科研项目(2012NFW002);西南民族大学国家级大创项目(201210656006)

摘　　要：为更好地实现机器鱼之间的协作,避免只规划单个机器鱼的最优路径而使系统运动有失协调性,提出基于合作博弈的多机器鱼路径规划方法。利用博弈论中的合作博弈建立数学模型,将系统中的多机器鱼对应于博弈的参与者,对多机器鱼路径构造合作模型下的博弈方得益函数,求得系统的帕累托(Pareto)最优解,从而得到整个系统的最优路径。在水中机器人2D仿真平台上进行实验分析并用Matlab模拟机器鱼轨迹。分析结果表明,该路径规划理论应用在多机器鱼运动系统中是有效、可行的。In order to make the robot fishes cooperate better between each other to complete the task with high efficiency, and avoid planning only a single robot fish＇s optimal path in the system leaving the movement of system beneath coordination, this paper presents a path planning method for multiple robot fish based on cooperative game model. Using cooperative game in game theory to establish a mathematical model, the robot fish in the system corresponds to the participants of the game, benefit function of the game player on the cooperative model of multiple robot fish path construction, get system Pareto optimal solution, then get the optimal path of the entire system. Using the above method＇s instance, simulate and analyze on the robot fish in water 2D simulation platform, and use MATLAB to simulate robot fish＇s track, results indicate： application of the path planning theory in the multiple robot fish movement system is effective and feasible.

关 键 词：多机器鱼 合作博弈 得益函数 路径规划 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]