シープドッグ型ナビゲーション法による二輪車両モデルに基づく複数移動体の誘導制御

抄録

Shepherding problem is to guide a large number of moving objects (sheep flock) with a small number of controllers (shepherd, sheepdog). Exploring the shepherd guidance model is useful for controlling multiple robot and guiding real swarm of organisms. In this paper, to demonstrate sheepdog system in the real world, we proposed a control system for a sheep robot and a sheepdog robot based on a two-wheeled vehicle model. Through simulation validation, we have verified the validity of the proposed system.