WO2002008843A3 - Method and apparatus for controlling the movement of a plurality of agents - Google Patents

Method and apparatus for controlling the movement of a plurality of agents Download PDF

Info

Publication number
WO2002008843A3
WO2002008843A3 PCT/US2001/021912 US0121912W WO0208843A3 WO 2002008843 A3 WO2002008843 A3 WO 2002008843A3 US 0121912 W US0121912 W US 0121912W WO 0208843 A3 WO0208843 A3 WO 0208843A3
Authority
WO
WIPO (PCT)
Prior art keywords
agents
agent
local
distance
movement
Prior art date
Application number
PCT/US2001/021912
Other languages
French (fr)
Other versions
WO2002008843A2 (en
Inventor
Mike Howard
David Payton
Bruce Hoff
Craig Lee
Mike Daily
Original Assignee
Hrl Lab Llc
Mike Howard
David Payton
Bruce Hoff
Craig Lee
Mike Daily
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hrl Lab Llc, Mike Howard, David Payton, Bruce Hoff, Craig Lee, Mike Daily filed Critical Hrl Lab Llc
Priority to AU2001282883A priority Critical patent/AU2001282883A1/en
Priority to JP2002514479A priority patent/JP2004505338A/en
Priority to EP01961634A priority patent/EP1299785A2/en
Publication of WO2002008843A2 publication Critical patent/WO2002008843A2/en
Publication of WO2002008843A3 publication Critical patent/WO2002008843A3/en

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A method for controlling the movement of agents using local communications is provided. Generally, each agent maintains an optimal distance from other local neighbor agents by, for each agent (200), selecting a local agent (202), measuring the distance and angle to the agent (204), performing a distance maintenance calculation (218), and repeating the distance maintenance calculation (218) for each local agent. In the distance maintenance calculation (218), an attraction & repulsion map is used in order to determine whether an agent is attracted to or repelled from other agents. A motion vector is used to determine agent responses to the attraction or repulsion. Over time, the agents settle into a neutral configuration where each is optimally distanced from other agents. Reference agents and leader agents can be designated to direct the movement of other agents, and agents can be designated as blocking beacons to repel other agents from undesirable areas.
PCT/US2001/021912 2000-07-10 2001-07-10 Method and apparatus for controlling the movement of a plurality of agents WO2002008843A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2001282883A AU2001282883A1 (en) 2000-07-10 2001-07-10 Method and apparatus for controlling the movement of a plurality of agents
JP2002514479A JP2004505338A (en) 2000-07-10 2001-07-10 Method and apparatus for controlling movement of multiple agents
EP01961634A EP1299785A2 (en) 2000-07-10 2001-07-10 Method and apparatus for controlling the movement of a plurality of agents

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US21723200P 2000-07-10 2000-07-10
US60/217,232 2000-07-10

Publications (2)

Publication Number Publication Date
WO2002008843A2 WO2002008843A2 (en) 2002-01-31
WO2002008843A3 true WO2002008843A3 (en) 2002-05-16

Family

ID=22810190

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2001/021912 WO2002008843A2 (en) 2000-07-10 2001-07-10 Method and apparatus for controlling the movement of a plurality of agents

Country Status (4)

Country Link
EP (1) EP1299785A2 (en)
JP (1) JP2004505338A (en)
AU (1) AU2001282883A1 (en)
WO (1) WO2002008843A2 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6507771B2 (en) * 2000-07-10 2003-01-14 Hrl Laboratories Method and apparatus for controlling the movement of a plurality of agents
US20060235584A1 (en) * 2005-04-14 2006-10-19 Honeywell International Inc. Decentralized maneuver control in heterogeneous autonomous vehicle networks
FR2999305B1 (en) 2012-12-11 2021-11-12 Thales Sa CONTROL PROCESS OF A SET OF ROBOTS AND SET OF ROBOTS
US10537996B2 (en) 2014-05-05 2020-01-21 Georgia Tech Research Corporation Control of swarming robots
JP6492779B2 (en) * 2015-03-05 2019-04-03 富士通株式会社 Mapping information generating program, mapping information generating method, and mapping information generating apparatus
RU2662297C1 (en) * 2017-05-31 2018-07-25 Федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский государственный университет аэрокосмического приборостроения" Method of the road drones group driving and system for its implementation
WO2021024352A1 (en) * 2019-08-05 2021-02-11 三菱電機株式会社 Control device and control method
CN111174758B (en) * 2020-01-18 2021-07-16 湖南工学院 Method for detecting robot no-signal terrain

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5734206A (en) * 1980-08-04 1982-02-24 Kensetsusho Doboku Kenkyu Shocho Carriage follow-up control system
JPS58221412A (en) * 1982-06-17 1983-12-23 Star Seiki:Kk Self-traveling pallet
JPH04132575A (en) * 1990-09-25 1992-05-06 Kazuo Yoshida Automatic drive system cart
JPH0561542A (en) * 1991-09-02 1993-03-12 Mitsubishi Heavy Ind Ltd Guide vehicle
JPH11194823A (en) * 1997-12-26 1999-07-21 Mitsubishi Motors Corp Travel control system for unmanned truck

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5734206A (en) * 1980-08-04 1982-02-24 Kensetsusho Doboku Kenkyu Shocho Carriage follow-up control system
JPS58221412A (en) * 1982-06-17 1983-12-23 Star Seiki:Kk Self-traveling pallet
JPH04132575A (en) * 1990-09-25 1992-05-06 Kazuo Yoshida Automatic drive system cart
JPH0561542A (en) * 1991-09-02 1993-03-12 Mitsubishi Heavy Ind Ltd Guide vehicle
JPH11194823A (en) * 1997-12-26 1999-07-21 Mitsubishi Motors Corp Travel control system for unmanned truck

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 006, no. 100 (P - 121) 9 June 1982 (1982-06-09) *
PATENT ABSTRACTS OF JAPAN vol. 008, no. 075 (P - 266) 7 April 1984 (1984-04-07) *
PATENT ABSTRACTS OF JAPAN vol. 016, no. 400 (C - 0977) 25 August 1992 (1992-08-25) *
PATENT ABSTRACTS OF JAPAN vol. 017, no. 381 (P - 1574) 16 July 1993 (1993-07-16) *
PATENT ABSTRACTS OF JAPAN vol. 1999, no. 12 29 October 1999 (1999-10-29) *

Also Published As

Publication number Publication date
AU2001282883A1 (en) 2002-02-05
WO2002008843A2 (en) 2002-01-31
JP2004505338A (en) 2004-02-19
EP1299785A2 (en) 2003-04-09

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