Goal Control for UGV Path Planning in Complex Environment

With the development of science and technology, the environment where the Unmanned Ground Vehicles (UGVs) patrol is complex for the cooperative and adversarial interactions. The actions performed by the UGVs can be observed by others which might be cooperators or adversaries. In order to fulfill the battle field patrol task, the goals of path planning for UGVs should be controlled in the mixed cooperative and adversarial environment. In this paper, we first define the goal control problem among three different roles (actor, cooperative observer, and adversarial observer), where the actor (UGV) need to reveal the real goal tied with the truthful path to the cooperative observer while hide the real goal tied with the deceptive path to the adversarial observer. Therefore, we propose one method of generating truthful or deceptive path depending on the judgement of the current observer type. Finally, indoor robot demonstration has been performed to verify the applicable of our proposed method.