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WO2002008843A3 - Procede et dispositif permettant de commander le deplacement de plusieurs agents - Google Patents

Procede et dispositif permettant de commander le deplacement de plusieurs agents Download PDF

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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
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/US2001/021912
Other languages
English (en)
Other versions
WO2002008843A2 (fr
Inventor
Mike Howard
David Payton
Bruce Hoff
Craig Lee
Mike Daily
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HRL Laboratories LLC
Original Assignee
HRL Laboratories LLC
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 Laboratories LLC filed Critical HRL Laboratories LLC
Priority to AU2001282883A priority Critical patent/AU2001282883A1/en
Priority to JP2002514479A priority patent/JP2004505338A/ja
Priority to EP01961634A priority patent/EP1299785A2/fr
Publication of WO2002008843A2 publication Critical patent/WO2002008843A2/fr
Publication of WO2002008843A3 publication Critical patent/WO2002008843A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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

Cette invention a trait à un procédé permettant de commander des agents au moyen de communications locales. En règle générale, chaque agent garde une distance optimale par rapport à d'autres agents se trouvant dans son voisinage. A cet effet, on sélectionne pour chaque agent (200) un agent local (202) et l'on mesure la distance le séparant d'un autre agent (204) ainsi que l'angle formé avec celui-ci. On calcule ensuite comment conserver cette distance (218) et l'on répète ce calcul (218) pour chaque agent local. On utilise, en calculant comment conserver cette distance (218), un relevé cartographique d'attraction et de répulsion afin de déterminer si un agent est attiré ou repoussé par d'autres agents. On utilise également un vecteur de mouvement pour analyser les réactions de l'agent face à une attraction ou à une répulsion. Au fil du temps, les agents s'établissent spatialement selon une configuration neutre dans laquelle chacun se trouve à une distance optimale des autres. Il est possible de désigner des agents de référence et des agents meneurs pour diriger les déplacements d'autres agents, de même qu'il possible de désigner des agents faisant office de balise de blocage et dont la fonction consiste à repousser d'autres agents de certaines zones où ils sont indésirables.
PCT/US2001/021912 2000-07-10 2001-07-10 Procede et dispositif permettant de commander le deplacement de plusieurs agents Ceased WO2002008843A2 (fr)

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 (ja) 2000-07-10 2001-07-10 複数のエージェントの動きを制御するための方法と装置
EP01961634A EP1299785A2 (fr) 2000-07-10 2001-07-10 Procede et dispositif permettant de commander le deplacement de plusieurs 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 (fr) 2002-01-31
WO2002008843A3 true WO2002008843A3 (fr) 2002-05-16

Family

ID=22810190

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2001/021912 Ceased WO2002008843A2 (fr) 2000-07-10 2001-07-10 Procede et dispositif permettant de commander le deplacement de plusieurs agents

Country Status (4)

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

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 (fr) 2012-12-11 2021-11-12 Thales Sa Procede de pilotage d'un ensemble de robots et ensemble de robots
US10537996B2 (en) 2014-05-05 2020-01-21 Georgia Tech Research Corporation Control of swarming robots
JP6492779B2 (ja) * 2015-03-05 2019-04-03 富士通株式会社 マッピング情報生成プログラム、マッピング情報生成方法、及びマッピング情報生成装置
RU2662297C1 (ru) * 2017-05-31 2018-07-25 Федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский государственный университет аэрокосмического приборостроения" Способ группового вождения дорожных дронов и система для его осуществления
JP7046275B2 (ja) * 2019-08-05 2022-04-01 三菱電機株式会社 制御装置、および、制御方法
CN111174758B (zh) * 2020-01-18 2021-07-16 湖南工学院 一种机器人无信号地形探测的方法

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 (ja) * 1982-06-17 1983-12-23 Star Seiki:Kk 自走パレツト
JPH04132575A (ja) * 1990-09-25 1992-05-06 Kazuo Yoshida 自動運転式カート
JPH0561542A (ja) * 1991-09-02 1993-03-12 Mitsubishi Heavy Ind Ltd 誘導車両
JPH11194823A (ja) * 1997-12-26 1999-07-21 Mitsubishi Motors Corp 無人搬送車の走行制御システム

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 (ja) * 1982-06-17 1983-12-23 Star Seiki:Kk 自走パレツト
JPH04132575A (ja) * 1990-09-25 1992-05-06 Kazuo Yoshida 自動運転式カート
JPH0561542A (ja) * 1991-09-02 1993-03-12 Mitsubishi Heavy Ind Ltd 誘導車両
JPH11194823A (ja) * 1997-12-26 1999-07-21 Mitsubishi Motors Corp 無人搬送車の走行制御システム

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
JP2004505338A (ja) 2004-02-19
EP1299785A2 (fr) 2003-04-09
WO2002008843A2 (fr) 2002-01-31

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