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Improved shepherding behavior with multiple shepherds

LI Meng1， LIANG Jia-hong1， LI Shi-lei2   

  1. 1. College of Mechanical Engineering and Automation, National University of Defense Technology, Changsha 410073, China;
    2. Department of Information Security, Naval University of Engineering, Wuhan 430033, China
  • Online:2013-10-25 Published:2010-01-03

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Abstract:

According to current shepherding behavior, motions of the shepherds lack of the restrictions of time and velocity. An improved method is presented to solve this problem. By combining multi-agent decoupled planning based on probabilistic roadmap and timevarying planning based on velocity-tuning method, the motions of the shepherds satisfy the restrictions. Communication capacity among shepherds is also realized by means of priorities. Thus, a more realistic shepherding behavior is achieved. Simulation tests show that the improved shepherding behavior accords with the characteristics of the real people in riot events more ideally.

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