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java.lang.Object | +----EDU.gatech.cc.is.clay.Node | +----EDU.gatech.cc.is.clay.NodeVec2 | +----EDU.gatech.cc.is.clay.v_Avoid_va
This version works differently than Arkin's original formulation. In the original, a repulsion vector is computed for each detected obstacle, with the result being the sum of these vectors. The impact is that several hazards grouped closely together are more repulsive than a single hazard. This causes problems when each sonar return is treated as a separate hazard --- walls for instance are more repulsive than a small hazard.
This version computes the direction of the repulsive vector as in the original, but the returned magnitude is the largest of the vectors, not the sum.
Arkin's original formulation is described in "Motor Schema Based Mobile Robot Navigation," International Journal of Robotics Research, vol. 8, no 4, pp 92-112.
The source code in this module is based on "first principles" (e.g. published papers) and is not derived from any previously existing software.
For detailed information on how to configure behaviors, see the Clay page.
Copyright (c)1997, 1998 Tucker Balch
public static final boolean DEBUG
public v_Avoid_va(double soe, double s, NodeVec2Array im1)
public Vec2 Value(long timestamp)
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