A competitive differential game between an unmanned aerial and a ground vehicle using model predictive control

George Tzannetos, Panos Marantos, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work a non-cooperative competitive differential continuous game between an unmanned aerial and an unmanned ground vehicle is studied. Each player acts independently trying to satisfy its own objective function. Specifically the Unmanned Aerial Vehicle (UAV) is trying to reduce the relative distance and orientation by the Unmanned Ground Vehicle (UGV), while the latter is trying to increase it. For this purpose a controller is designed using the concepts of Non-Linear Model Predictive Control (NL-MPC), for each player, to calculate in real time its optimal trajectory by solving its Minimax objective function with double optimization assuming the other player moves optimal (worst case scenario) and taking into account the complete model dynamics. Furthermore, we solve iteratively the above optimization in order to increase the levels of the thinking, making the players more capable of predicting opponent's best move, thus changing their optimal trajectory for their benefit. Various conclusions are made for the strategy that each agent follows in a realistic simulation game of these two 'rational' players, where one player is fast (UAV) and the other is slower (UGV) but more maneuverable.

Original languageEnglish (US)
Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1053-1058
Number of pages6
ISBN (Electronic)9781467383455
DOIs
StatePublished - Aug 5 2016
Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
Duration: Jun 21 2016Jun 24 2016

Publication series

Name24th Mediterranean Conference on Control and Automation, MED 2016

Other

Other24th Mediterranean Conference on Control and Automation, MED 2016
Country/TerritoryGreece
CityAthens
Period6/21/166/24/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Modeling and Simulation

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