Modeling And Simulation Of Robot Cooperative Game

Multi-robot collaboration is a hot research topic nowadays.This paper mainly discusses the related issues of multi-robot cooperative game.The pros and cons of the cooperative mechanism are directly related to the efficiency,success rate and cost of the system to complete tasks.From the point of view of multi-robot systems,the robot pursuit-escape system is a comprehensive and challenging platform that integrates technologies in multiple fields such as environmental information processing,communication processing,and robot interactive processing.Multi-robot collaboration in the robot pursuit-escape environment can be applied to many scenarios and has very important practical significance.However,the disadvantages of most of the existing robot collaboration technologies and methods include low efficiency of interactive communication among multiple robots,low success rate of round-up in confrontation situations,and long time-consuming,etc.In view of the shortcomings of existing methods,the research contents and main work of this paper are as follows:(1)On the basis of the semantic web as semantic support,put forward the assumptions about the negotiation environment and the multi-robots participating in the negotiation,establish an auto-negotiation model,as well as study the negotiation problems of multi-robot systems.In addition,describes robots and their goals and states,characterizes different robot personalities,and analyzes the bargaining strategies and efficiency of robots of different personalities in the negotiation process,and conducts comparative analysis through simulation experiments.(2)Based on the research content(1),a formal model for the robot pursuit-escape problem is established,and the obstacle area virtual expansion algorithm is adopted to avoid the robot moving into a dead corner without increasing the number of steps the robot moves to the target point.At the same time,the improved contract network protocol based on ability screening is used to evaluate the capabilities of the target robots,select robots that meet the requirements,and combine the dynamic collaborative pursuit-escape algorithm to optimize the execution efficiency of the corresponding task.Through simulation experiments,the dynamic cooperative pursuit-escape algorithm performs tasks faster and has higher stability than the general cooperative pursuit-escape algorithm.(3)Based on the research content(2)and game theory,the multi-robot confrontation game strategy control in the confrontation situation is modeled as a multi-robot pursuit-escape problem,and the evaluation function is constructed comprehensively with the consideration about the distance,movement and effective enveloping factors.In addition,the robot's solution to the optimal movement strategy is transformed into the optimal pure strategy solution of the payout matrix of the pursuer,and finally the optimal movement strategy of the robot in the current situation is obtained by solving the payment matrix through the elimination method.Through the multi-robot confrontation game simulation system in the confrontation situation,the validity and feasibility of the proposed multi-robot confrontation game strategy control model in the confrontation situation are verified.