Driving and Confinement of A Group in A Small Space

Abstract

We propose a strategy for driving a group to a designated direction and confining the members in a small space. There is one object called a leader, who guides such a group towards a destination. The leader detects the member which is furthest from the designated space, approach it behind and repulses it towards the destination. On the other hand, there are some forces, e.g. propulsive forces and attractive/repulsive forces, among the members of the group. Simulations are done based on both usual type controllers and fuzzy controllers, which shows that the fuzzy controller works better than the ordinary one because of its flexibility of the parameter tuning.