Obstacle Avoidance for a Game Theoretically Controlled Formation of Unmanned Vehicles

The paper presents a game theoretical approach to the control of a formation of unmanned vehicles. The objectives of the formation are to follow a prescribed trajectory, avoiding obstacles while maintaining the geometry of the formation. Formation control is implemented using game theory while obstacles are avoided using Null Space Based Behavioral Control algorithm. Two different obstacle avoidance scenarios are analyzed and compared. Numerical simulation results are presented, to validate the proposed approach.