Design of Mobile Control for Multiple Agents Inspired by Sheepdog Shepherding and its Verification
Design of Mobile Control for Multiple Agents Inspired by Sheepdog Shepherding and its Verification
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DOI：
10.5687/iscie.34.191
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发表时间：
2021-07
期刊：
影响因子：
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通讯作者：
Y. Tsunoda;Yuichiro Sueoka;T. Wada;K. Osuka
中科院分区：
文献类型：
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作者：
Y. Tsunoda;Yuichiro Sueoka;T. Wada;K. Osuka
本文构造了一个控制系统，其中一个高度移动的代理导航自治的多个代理逃离代理根据非线性相互作用。这项研究的动机是牧羊犬系统：成千上万的羊只由几只牧羊犬控制。受牧羊犬系统的启发，提出了一种牧羊犬控制律，解决了一只牧羊犬使一只羊围绕目标沿圆形轨迹收敛的问题，称之为移动的控制。在本文中，我们将此控制器扩展到适用于一个羊群的羊群，将多只羊视为“一个具有一定半径的圆盘”。本文研究了如何引导一群绵羊使它们的重心收敛在围绕目标位置的圆轨迹上的问题。针对这个问题，我们提出了一个羊的羊群模型和一个扩展的移动的控制设计，考虑到适当的距离之间的牧羊犬和羊群的中心。最后，通过数值仿真和机器人演示验证了艾德方法的有效性。
This paper constructs a control system in which one highly mobile agent navigates autonomous multiple agents escaping from the agent according to nonlinear interaction. This study is motivated by the sheepdog system: a flock of thousands of sheep are controlled by only a few sheepdogs. Inspired by the sheepdog system, we have proposed a control law of a sheepdog to solve the problem of one sheep converging on a circular trajectory around a goal by one sheepdog, which is called the mobile control. In this paper, we extend this controller to applicable to a flock of sheep by treating multiple sheep as “a disc with a certain flock radius”. This paper deals with the problem of navigating a flock of sheep to converge their centers of gravity on a circular trajectory around a goal position. For this problem, we propose a flock model of sheep and an extended mobile control designed by considering the suitable distance between a sheepdog and a center of the flock. Finally, we verified the validity of the proposed method through numerical simulation and robot demonstrations.