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http://dx.doi.org/10.5302/J.ICROS.2005.11.4.322

Application of Herding Problem to a Mobile Robot  

Kang Min Koo (포항공과대학교 전자전기공학과)
Lee Jin Soo (포항공과대학교 전자전기공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.4, 2005 , pp. 322-329 More about this Journal
Abstract
This paper considers the application of mobile robot to the herding problem. The herding problem involves a ‘pursuer’ trying to herd a moving ‘evader’ to a predefined location. In this paper, two mobile robots act as pursuer and evader in the fenced area, where the pursuer robot uses a fuzzy cooperative decision strategy (FCDS) in the herding algorithm. To herd evader robot to a predefined position, the pursuer robot calculates strategic herding point and then navigates to that point using FCDS. FCDS consists of a two-level hierarchy: low level motion descriptors and a high level coordinator. In order to optimize the FCDS, we use the multi­thread evolutionary programming algorithm. The proposed algorithm is implemented in the real mobile robot system and its performance is demonstrated using experimental results.
Keywords
herding; fuzzy system; mobile robot; evolutionary programming;
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