Shepherding Algorithm of Multi-mobile Robot System

Abstract

This paper introduces a simple algorithm and design of shepherding multi-robot system. The article intends to show possibility of using multi-robot system for shepherding in Mongolia. Shepherding is an activity to guide or control a flocking behavior by one or more agents called as shepherds man. In general, a complex strategy is necessary for treating to a flock which has a lot of members. In the paper, two types of shepherding multi-robots are used to show their capability to herd the sheep. Furthermore, we designed a simple structure for shepherding multi-robot system and demonstrated an algorithm. Two types of multi-robot systems like corner mobile robots and sideline mobile robots are used for shepherding. Mobile robots are connected to each other and are controlled by the given algorithm. Mobile robots should be high mobility and be able to go through uneven road.