Abstract:
A system and method for remote guidance of a dog or other suitable animal to and from a selected location using GPS related triangulation methods. The system using a series of audible cues or electrical shocks to guide the dog from a current location to a target location by continually monitoring the current GPS location of the dog and establishing a waypoint target for the animal as it moves. The system issues cues such as audible signals to control the dog and keep it confined within a suitable corridor so that the next waypoint may be attained. Using the invention, a dog owner can control the movement of the dog as the owner moves in its proximity, thereby creating an invisible tether or “virtual leash” or to the animal.

Description:
This application claims the benefit of filing priority under 35 U.S.C. §119 and 37 C.F.R. §1.78 of the U.S. Provisional Application Ser. No. 61/497,842 filed Jun. 16, 2011, for a Software Algorithm For Mobile Devices Using Position Sensor To Lock User Position Within Boundary Lines, and U.S. Provisional Application Ser. No. 61/551,842 filed Oct. 26, 2011, for a Dog Collar with Aural Cues and Tract-Lock GPS Technology. All information disclosed in those prior provisional applications is incorporated herein by reference. 
    
    
     FIELD OF THE INVENTION 
     The present invention relates generally to devices using GPS based software and hardware to determine an Earth based location. In greater particularity, the present invention relates to GPS prediction methods. In even greater particularity, the present invention relates to animal control collars to confine an animal to predefined boundary area. 
     BACKGROUND OF THE INVENTION 
     The use of global positioning systems (GPS) to determine the terrestrial position of a portable device is well-known in the art. For instance, U.S. Pat. No. 5,375,059 to Kyrtsos et al., U.S. Pat. No. 5,438,517 to Sennott et al., and U.S. Pat. No. 5,490,073 to Kyrtsos each describe a navigational system for vehicles utilizing the electromagnetic signals received from GPS satellites. The aforementioned patents (U.S. Pat. No. 5,375,059; U.S. Pat. No. 5,438,517; U.S. Pat. No. 5,490,073) are hereby incorporated by reference in their entireties. 
     A global positioning system works by utilizing a network of GPS satellites that continuously transmit signals to the Earth; the data transmitted by these signals includes the precise time at which the signal was transmitted by the satellite. By noting the time at which the signal is received at a GPS receiver, a propagation time delay can be calculated. By multiplying the propagation time delay by the signal&#39;s speed of propagation, the GPS receiver can calculate the distance between the satellite and the receiver. This calculated distance is called a “pseudorange,” due to error introduced by the lack of synchronization between the receiver clock and GPS time, as well as atmospheric effects. Using signals from at least three satellites, at least three pseudoranges are calculated, and the position of the GPS receiver is determined through a geometrical triangulation calculation. 
     When GPS signals are not available, the position of a portable device may also be calculated through other means, such as a dead-reckoning system incorporating an accelerometer. For instance, U.S. Pat. No. 5,606,506 to Kyrtsos and U.S. Pat. No. 6,308,134 to Croyle et al. each describe navigational systems integrating both GPS and dead-reckoning techniques. U.S. Patent Publication No. 2007/0260398 to Stelpstra further describes a device that calculates calibration parameters for its accelerometer while GPS data is available, enabling the device to determine its position exclusively using data derived from the accelerometer when GPS data is unavailable. The aforementioned patents and patent publications (U.S. Pat. No. 5,606,506; U.S. Pat. No. 6,308,134; U.S. Patent Publication No. 2007/0260398) are hereby incorporated by reference in their entireties. 
     Certain currently available GPS systems also utilize remote databases to store GPS related information, which is then communicated to a portable device. U.S. Pat. No. 6,222,483 to Twitchell et al., for example, discloses a GPS location system for mobile phones in which the GPS satellite information is stored in a database on a server accessed via an Internet interface. The aforementioned patent (U.S. Pat. No. 6,222,483) is hereby incorporated by reference in its entirety. 
     Animal training systems that utilize geo-positioning techniques to control movement of an animal via electrical and audible cues are also known in the art. For example, U.S. Pat. Nos. 7,034,695 and 7,786,876 to Troxler and U.S. Pat. No. 5,857,433 to Files each disclose a device for controlling an animal&#39;s movement using a collar to provide a physical stimulus and/or audible cue. The aforementioned patents (U.S. Pat. No. 5,857,433; U.S. Pat. No. 7,034,695; U.S. Pat. No. 7,786,876) are hereby incorporated by reference in their entireties. 
     However, while the tracking of animals and especially pets is already known, especially with GPS based technology, no systems meld a moving dynamic relationship between an owner&#39;s position and their pet&#39;s position, nor offer dynamic control of a pet to effect the pet&#39;s movement from one location to another. Hence, what is needed is a convenient method for dynamic boundary movement to effect movement of a pet from one location to another, and using this same methodology to control local movements of the pet in concert with its owner&#39;s movements. 
     SUMMARY OF THE INVENTION 
     In summary, the invention is a system and method for remote guidance of a dog or other suitable animal to and from a target location using current geo-location methods. The system using a series of audible cues or electrical shocks to guide the dog from its present location to a target location by continually monitoring the current GPS location of the dog and establishing a waypoint target for the animal as it moves. The system issues cues such as audible signals to control the dog and keep it confined within a suitable corridor so that the next waypoint may be attained. Other features and objects and advantages of the present invention will become apparent from a reading of the following description as well as a study of the appended drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A system and method for remote guidance of a dog to and from target locations incorporating the features of the invention is depicted in the attached drawings which form a portion of the disclosure and wherein: 
         FIG. 1  is a general communication system infrastructure diagram showing a dog wearing the invention and connected to various communication elements in which the collar operates; 
         FIG. 2A  is a three dimensional view of the invention showing its internal electronics; 
         FIG. 2B  is a side view of the invention showing its shocking prongs and an external switch; 
         FIG. 3  is a process flow diagram showing part of the processing of the invention; 
         FIG. 4  is a process flow diagram showing another portion of the processing of invention with stimulus control of the dog; 
         FIG. 5  is a process flow diagram showing dynamic boundary services; 
         FIG. 6  is a process flow diagram showing guided trekking of a dog; 
         FIG. 7  is a process flow diagram showing virtual leash application of the invention; 
         FIG. 8A  is a diagram showing an example guided movement through a distance segment; 
         FIG. 8B  is a diagram showing example movement using a plurality of movement segments shown in  FIG. 8A  to form a guided trek for a dog; 
         FIG. 9A  is a diagram showing an example guided movement using a virtual leash from one point to another; and, 
         FIG. 9B  is a diagram showing an example movement using a plurality of guided movements using a virtual leash shown in  FIG. 7A  to form an owner and dog guided trek. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Referring to the drawings for a better understanding of the function and structure of the invention,  FIG. 1  shows a schematic view of the communications infrastructure  10  utilized by the present invention during typical use. In this sample scenario, an individual  11  desires to guide the movement of a dog  16 . The user initiates a software application on mobile device  12 , which includes receivers capable of detecting signals originating from GPS satellites  14 , WiFi repeater/booster stations  13 , and one or more cell towers  21 , as well as signal  18  originating from the electronics module  19  located on the dog&#39;s collar  15 . 
     By connecting with the Internet  22  via WiFi, Bluetooth, or cell transmissions, the software application can access both land tract data and the dog&#39;s geo-positional data stored in a SQL relational database on a remote server, such as cloud server  23 . The data contained on cloud server  23  can also be accessed and modified by remote computing device  24 , such as a PC, via an Internet connection. 
       FIG. 2A  depicts a three-dimensional view of the dog&#39;s collar  15 . The dog&#39;s collar  15  consists of two major components: an electronics module  19  and a self-adjusting strap  17 . The electronic components are housed in a generally waterproof case  26 . The electronics module  19  is powered by battery  29 , which is accessible via battery compartment access panel  31 . Electronics module  19  receives power and data via connection ports  32 , which include a USB connector and a power connector. Dual-sided motherboard  33  serves as the infrastructure for the electronic components contained in the module, including input/output electronics  34 , WiFi chip  36 , sound synthesizer  37 , GPS chip  38 , cellular transceiver  41 , and microprocessor  42 . Electronics module  19  also contains acoustic device  27 , which is located directly beneath case perforations  28  in order to produce optimal sound quality. Additional embodiments of invention include electronic components used for monitoring and recording physiological data, such as the dog&#39;s pulse rate or body temperature. 
       FIG. 2B  depicts a side view of the dog&#39;s collar  15 . The on/off switch  46  is located on the side of the electronics module  19 , directly adjacent to an LED  48  that indicates whether the collar&#39;s electronic components are on or off. Self-adjusting collar strap  17  attaches to the electronics module  19  via strap retainers  44 . Shocking prongs  47  protrude through holes in strap  17  in order to maintain contact with the dog&#39;s body. 
       FIG. 3  illustrates the process  50  by which the software algorithm of the present invention determines a dog&#39;s terrestrial position. As discussed previously, a user who wishes to determine his or her dog&#39;s position will initiate the software application on mobile device  12 . The user will also ensure that the dog collar  15  is switched on, thereby initiating the software in collar  15  as well. Upon initiation  52 , the dog collar  15  will retrieve and load last-known position data from the local storage  53  in the dog collar  15 . After loading the last-known position data, the software algorithm determines  54  the most appropriate communication access state, choosing among the available communication paths  56 , which, depending on signal strength and availability, could include communication via Bluetooth, cell, WiFi, wired, or other such methods. The software algorithm ranks the various communication paths  56  in real time, basing its ranking on signal strength, transmission speed, and other such factors that affect the efficiency of data transmission. Once the optimal communication path  56  is chosen, the software algorithm determines  57  whether the chosen communication path  56  will allow it to access the Internet or a device associated with the dog&#39;s owner, such as mobile device  12  or PC  24 . If the software is unable to access the Internet or a device with the chosen communication path  56  (e.g., if the signal were too weak to provide an adequate connection),  FIG. 3  illustrates a method by which the software uses the last-known position data previously retrieved from local storage  53  to calculate  63  the dog&#39;s current position, a process which is detailed below. In other embodiments of the invention, however, position data produced by dead-reckoning techniques, such as an accelerometer-based method, may be used in place of the last-known position data. 
     If the chosen communication path  56  will allow the software to access the Internet or a device, it will access  58  the owner&#39;s account on cloud server  59  or local storage on the owner&#39;s device. The software will communicate with the server or device to record data indicating the dog&#39;s current geo-positional location and/or update the status of the dog&#39;s position with respect to a boundary. The software will also access any designated boundary data, if available. 
     Once the software application has communicated with cloud server  59  or a device, the software determines  61  whether a position data source is available. Again,  FIG. 3  illustrates a process in which GPS positioning is the method used to calculate the dog&#39;s current location, but other embodiments of the present invention would utilize various methods of location determination, including a system integrating GPS positioning with accelerometer-based dead-reckoning. 
     In order to determine whether a position data source is available, the software communicates with a GPS receiver located in electronics module  19 . If at least three GPS signals are available, the software uses the time stamp obtained from each signal to calculate a pseudorange for each satellite. Once the pseudoranges have been calculated, the algorithm geometrically triangulates  63  the terrestrial position of collar  15  and records the resulting position data as the dog&#39;s current location. 
     In the preferred embodiment of the invention, accuracy of geo-position data is increased by utilizing multiple position calculations, including triangulation based on signals from GPS satellites, cell towers, and WiFi transceivers, as well as data obtained from an accelerometer-based dead-reckoning system. Additionally, a differential “receiver autonomous integrity monitoring” (“RAIM”) method may be applied to data received from the GPS, cell tower, or WiFi transceiver signals. The RAIM method utilizes data obtained from redundant sources (i.e., signal sources above the minimum number required for triangulation) to estimate the statistical probability of inaccuracy in a device&#39;s calculated geo-position. Further, the preferred embodiment of the invention utilizes a NIST-calibrated time stamp to calculate and compensate for geo-positioning error resulting from inaccuracies in the time stamps contained in GPS, WiFi, and cell signals used for triangulation, as well as inaccuracies in the internal clock of components of mobile device  12  and electronics module  19 . The preferred embodiment of the invention utilizes NIST-calibrated time data obtained from a remote server. One example of a provider of time data with a NIST Certificate of Calibration is Certichron, Inc. A further embodiment of the invention would utilize a nearby base station with a known location. Geo-positioning data for the local base station would be obtained via GPS, WiFi, and cell signal triangulation methods and utilized to further calculate and compensate for inaccuracies associated with the geo-position data obtained by mobile device  12  and electronics module  19 . Through one or a collection of the above strategies, accurate geographical location to within a few inches for a device may be routinely obtained. 
     Once the software has obtained position data via any of the above-discussed methods, the software will then determine  64  whether data associated with a designated boundary is available. If not, the software will wait a preloaded time  66  and then proceed again to determine  64  whether boundary data has become available. The algorithm will continue this process until the software is able to access boundary information for the session. 
     Referring now to  FIG. 4 , the software proceeds to establish  68  a geographic boundary for the session. In one method, a data file with coordinates for a pre-specified path boundary could be downloaded to the collar. In another embodiment, the user could specify that a pre-defined boundary relating to a particular tract of land (e.g., a path defined by an easement that traverses a property) be established as the boundary for the session. In an additional embodiment, a boundary data set could be created by the user by pinpointing vertices of a polygon or polygons on a map of a tract of land on a remote computing device and uploading the data set directly to the collar or via database  59 . In another method, a user could pinpoint a single point (stationary or dynamic) and define the boundary as a circle of a specified radius with a center at the chosen point. In an additional embodiment, a user could travel the desired path boundary holding either mobile device  12  or collar  15 , thereby creating a boundary data set consisting of the coordinates of selected points on the desired path boundary. 
     In a preferred embodiment of the invention, a user could “draw” the boundary of a desired path directly onto a map of a tract of land in a software application coupled electronically with device  12  or database  23 . In this embodiment, mobile device  12  would include a touch-sensitive screen apparatus; when the user touches a point on the map of the tract shown on the device&#39;s screen, the application would record that point&#39;s geo-position coordinates. As the user touches successive points on the screen, the application would record a series of coordinates. Once the user defined the desired path boundary on the map of the tract, the data set consisting of the series of coordinates would be used to establish that session&#39;s boundary. Further, in the preferred embodiment of the invention, each boundary defined by a user is stored in a SQL relational database, allowing the user to utilize the same boundary data set in later sessions. 
     Referring again to  FIG. 4 , a geographic boundary is established  68  for the session, and the software loads  69  the boundary data and displays the boundary on the user&#39;s device screen. Along with the boundary data, the software also loads aural cues  72  and shock settings  73  that have been stored either locally, on a connected device, or on cloud server  59 . The algorithm then compares  74  the dog&#39;s current position with the boundary previously established for the session. If the software determines  76  that the dog&#39;s current position is not within the specified boundary limits, the software will initiate  80  a shock, aural cue, and/or voice command, which the dog&#39;s owner would have previously recorded to a data file and stored  82  in the database on cloud server  59 . In lieu of an administered shock, the collar might also be equipped with a canine offensive mist that can be dispensed upon command. In addition to these immediate corrective actions, the software would also signal  84  the dog&#39;s owner to notify him of the dog&#39;s current position with respect to the boundary. 
     In an embodiment of the invention in which the owner chooses to create a boundary by pinpointing the center of a circle with a specified radius, after the software algorithm compares  74  the dog&#39;s current position with the boundary  102  established for the session. If the software determines  77  that the dog&#39;s current position is not within the specified radius limits established as the boundary for the session, the software will initiate  80  a shock, aural cue, and/or voice command and signal  84  the owner to notify him of the dog&#39;s current position with respect to the boundary. 
     If the software determines that the dog&#39;s current position is within the specified boundary for the session, the algorithm then determines  78  the dog&#39;s position with respect to a buffer zone. Generally, the buffer zone will be defined by the owner as a set distance from any point on the boundary line (e.g., the user would like to receive a warning if the dog travels within 2 feet of any point on the boundary line). In another embodiment of the invention, the owner could define a more specialized buffer zone (e.g., the owner would like to receive a warning if the dog travels within 1 foot of the path boundary adjacent to a particular tract of land, but would only like to receive a warning if the dog travels within 2 feet of a path boundary adjacent to a separate tract of land). In either case, the buffer zone may be defined either by the owner in the software application, or by a remote user connected to a remote computing device with access to the server storing the SQL relational database. 
     If the application determines  78  that the dog&#39;s current position  98  is within the designated buffer zone, the software will initiate  80  an aural cue and/or voice command and signal  84  the owner. 
     Even if the dog&#39;s current location is not within the buffer zone, the application also uses predictive modeling to determine whether the dog is approaching the buffer zone, based on the velocity vectors obtained from GPS/WiFi/cell tower triangulation data or data obtained from the collar&#39;s accelerometer or other dead-reckoning system. If the velocity vector data indicates that the dog will enter the buffer zone within a time period that has been pre-specified by the owner or a remote administrator (e.g., if the dog will enter the buffer zone within 2 seconds), the application will initiate  80  an aural cue and/or voice command and signal  84  the owner. 
     After performing the steps discussed above, the application then determines  79  whether the owner&#39;s database record is available. If so, the application updates the position data contained in either local storage on mobile device  12  or PC  24 , or the SQL relational database stored on cloud server  23 , updating  81  the owner&#39;s data file by recording the dog&#39;s current location with respect to time, as well as a velocity vector to indicate the dog&#39;s heading. 
       FIG. 5  depicts the process  200  through which the software algorithm of the present invention provides dynamic boundary services. A user who desires a dog&#39;s movement to be confined within a dynamic, as opposed to stationary, boundary would initiate  202  the dynamic boundary services algorithm via the application interface. The application can provide two types of dynamic boundary services: a “guided trek” boundary service, and a “virtual leash” boundary service. A guided trek boundary is depicted in  FIGS. 8A and 8B ; a virtual leash boundary is depicted in  FIGS. 9A and 9B . 
     Once an owner has initiated  202  the dynamic boundary services algorithm, the owner will choose  203  whether he or she would like to have the application guide the dog along a predefined path (a “guided trek”). If the owner would prefer to guide the dog in relation to real-time movements by the owner, then the application initiates  205  the “virtual leash” service, which allows the owner to tether the dog within a specified radius of the owner&#39;s position. Once the virtual leash service has been initiated  205 , the software records  212  the owner&#39;s position and stores the position data in a SQL relational database on cloud server  208 . The application then loads  213  the owner&#39;s geographic position data, updates  209  the owner record to indicate that the boundary file has changed, and proceeds with “virtual leash” process  230 , as depicted in  FIG. 7 . 
     If the owner chooses  203  to have the application guide the dog along a predefined path, the software will initiate  204  the “guided trek” service. The application will then prompt the owner to either mark a trail route or load a previously marked route or trek file retrieved from cloud server  208 . If the owner chooses to mark a trail route, the trail route coordinates will be recorded and stored to the SQL database on cloud server  208  to create a “dynamic boundary file.” A dynamic boundary file is essentially a file that includes all of the necessary information for collar  15  to dynamically control dog  16  utilizing processes  65 ,  220 , and  230 . As may be understood, this file may be saved and re-used again and again as desired by the owner  11  because it is retained in database  23  and associated with the owner&#39;s profile there. Once the coordinates along the specified route have been obtained, the application will create  207  route segments and load start and end points for the same. The application then updates  209  the owner record to indicate that the boundary file has changed, and proceeds with “guided trek” process  220 , as depicted in  FIG. 6 . 
     Referring now to FIGS.  6  and  8 A- 8 B, in unison, it may be seen that process  220  running on device  15  controls dog  16  to move it from a starting location to an ending location, thereby providing a remote guidance mechanism for animal  16  to embark on the controlled trek.  FIGS. 8A-8B  show the physical implementation of the process  220  in an actual trek example  105 . 
     After determination that a guided trek has been selected through process  200  and the starting and ending points of the trek have been established by the dynamic boundary file  207 , device  15  creates a plurality of corridor boundaries  90  based upon the information in the dynamic boundary file. A series of individual segments  95  connected at their end points is created to form a guided trek  105 . Each segment  95  includes a start point A  91  and an end point B  92 , connected together by parallel boundaries  97  and corridor wall buffers  98 . The corridor has a width spanned by movable control boundary  101  which is anticipated by a movable buffer zone  102  as the control boundary  101  moves along in a forward direction  99 . 
     After creation of the first corridor  217 , the device  15  determines whether the dog or animal is within the corridor  218  and re-orients the corridor location to include the dog&#39;s location if it is found to be outside of the corridor  90 . Various logic decisions are also made at this time to ascertain if the trek goals are impossible given the dog&#39;s current location so that feedback to the owner may be provided in impractical situations. Once the dog has been oriented in a corridor  90  the dog&#39;s position is monitored relative to boundary rules and actions established in process  A   65 . 
     To cause movement in dog  16 , left most boundary adjacent to start point A  91  is effectively moved toward end point B by advancing  222  control boundary  101  from point A  91  in a forward direction  99  until point B  92  is reached  223 . As may be understood from  FIG. 4 , as dog  16  encounters buffer zone  102  certain motivating cues and shocks are applied to it, in escalating intensity, causing the dog to move its position  93  forward well ahead of control boundary  101 , thereby resulting in a generally forward travel path  96  along the corridor  90 . 
     When position B  92  is reached  223 , the process  220  determines whether the trek end destination has been reached  224 . If it has not been reached, the next set of end points A-B are loaded  226  and a new corridor is created  217 , effectively creating a series of waypoints for the dog to follow. This process is repeated until the trek destination is reached at which time the owner is notified  227 , ending process  220 . 
     As can be better seen in  FIG. 8B , a dynamic boundary file can be created to guide dog  16  through a series of corridors  90  and around dangerous or undesirable travel areas. For example, owner  11  may position trek segments  95  and starting and ending points A-B to avoid dense tree foliage  108 , rocky outcroppings  109 , and water hazards  111 , so that trek  105  may be safely traveled by a dog. 
     It will be apparent that treks through difficult terrain or through hazardous environments may require substantial variance in segment length, bearing, and location. Hence, while one type of guided trek  105  may only require a few segments of relatively lengthy distance, other treks may require dozens of segments with shorter lengths and multiple bearings corresponding to the entire compass range. This enables the owner to flexibly design a dynamic boundary strategy that will accommodate varying environmental situations through which a dog may traverse. 
     Referring now to FIGS.  7  and  9 A- 9 B, in unison, it may be seen that as an alternative to a remote, moving boundary corridor, an owner  11  may decide to proximally lead dog  16  as they themselves move from point A  131  to point B  132 . Process  230  running on device  15  achieves this by creating a “virtual leash” between the owner  11  and dog  16  as they move along a travel path  133 . 
     Initially, the process  230  is loaded  231  in collar  15  and activated  232 . The location of the owner  11  is then transmitted to database  23  (see step  208  of  FIG. 5 ) from device  12  worn or held by the owner  11 . That geographic position is transmitted from database  23  to collar  15  via a dynamic boundary file through whatever wireless access is available to collar  15 , and a boundary radius is created  234  in accordance with additional parameters present in the dynamic boundary file or as determined by pre-programmed collar parameters. The dog&#39;s position is then processed pursuant to method  A   236  to keep the dog within the circular boundary until the owner moves their position. If the owner moves  237 , the owner&#39;s position is updated  238  in remote database  239  and a new boundary radius  234  is created as long as the virtual leash process  230  is active. Process  A   236  is repeated continually to keep the dog within the new radial boundary. 
     Referring more closely to  FIGS. 9A and 9B , it may be seen that a moving series of circular boundary zones  115  are created as owner  11  moves along a desired path  133 . Each radial boundary is translated from a radial position a to a new radial position b. For example, when owner  11  has a position a  116 , he is surrounded by radial boundary  121  and buffer zone boundary  122 . Dog  16  has a location within that boundary of  119 . As owner  11  moves from position a  116  to position b  117 , boundary  121  and buffer  122  are translated or repositioned along travel path  118  in a travel direction from point a  116  towards point b  117 . As shown, corresponding buffer and boundary positions  124  and  123  are repositioned to points  127  and  126 , respectively, during such repositioning. Since boundary compliance sessions  65  ( A ) (see  FIG. 4 ) continue to be processed as owner  11  moves from position a to b, dog  16  is confined within each repositioned radial boundary as it moves, thereby causing a reposition of the dog from point  119  to point  120 , and continually causing the dog to be positioned within a proximal radial distance from owner  11  as the owner moves. 
       FIG. 9B  shows that such serial movements processed in accordance with process  230 , cause a series of overlapping radial boundaries  130 , such as a  134 , b  135 , and c  136 , and eventually to boundary location d  137 . As is apparent, owner&#39;s location  129  corresponds to the center point of each radial boundary moving along travel path  133  from starting location A  131  to destination point B  132 . The resultant system causes the dog to keep a proximal position to owner  11  as they travel, but without the potential entanglements and inconveniences that an owner encounters in a traditional leashed travel arrangement. 
     While I have shown my invention in one form, it will be obvious to those skilled in the art that it is not so limited but is susceptible of various changes and modifications without departing from the spirit thereof. For example, while boundary corridors (i.e. a rectangle) and circular boundaries have been depicted, the inventor clearly anticipates various boundary shapes and sizes may be utilized to improve upon the above presented movement dynamics while still utilizing the above described methods.