著者

角田 祐輔 末岡 裕一郎 和田 光代 大須賀 公一

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.55, no.8, pp.507-515, 2019 (Released:2019-08-10)

参考文献数

18

被引用文献数

6

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In this paper, we deal with the control problem to manipulate autonomous multiple agents (a flock of sheep) escaping from an agent (a sheepdog) according to nonlinear interaction. This work was motivated by so-called sheepdog system inspired by sheepdog shepherding: a flock of several thousands of sheep are controlled by only a few sheepdogs in the real world. It is an interesting control system because one or more sheepdogs, who act as a small number of controllers, can control many sheep that cannot be directly controlled, taking advantage of their own maneuverability. For this reason, there have been many studies about this system; however, these studies have been limited to building numerical models or performing simulation analyses. Therefore, we aim to clarify the control principle theoretically. For this purpose, we conduct theoretical analysis for a sheepdog-type navigation system which we design based on a flock control model proposed by Vaughan et.al. in the case that one sheep is controlled by a sheepdog. Moreover, we also demonstrate the results by using simulations to confirm the validity of the analysis.

著者

角田 祐輔 末岡 裕一郎 和田 光代 大須賀 公一

出版者

一般社団法人 システム制御情報学会

雑誌

システム制御情報学会論文誌 (ISSN:13425668)

巻号頁・発行日

vol.34, no.7, pp.191-198, 2021-07-15 (Released:2021-10-15)

参考文献数

19

被引用文献数

2

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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.