Paradigms of A.I. Robotics
Paradigms of A.I. Robotics
Paradigms of A.I. Robotics
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Magnitude Pr<strong>of</strong>ile<br />
Question: How should the robot model the force it feels from an object in its<br />
environment as a function <strong>of</strong> distance<br />
Answer: The robot can choose from a variety <strong>of</strong> magnitude pr<strong>of</strong>iles for forces being<br />
exerted by obstacles and goals.<br />
Definition.<br />
The way the magnitude <strong>of</strong> vectors change in the potential field (around an obstacle or a goal) is<br />
called the magnitude pr<strong>of</strong>ile.<br />
Three basic types <strong>of</strong> magnitude pr<strong>of</strong>iles:<br />
Constant - the force exerted by an object is <strong>of</strong> constant magnitude with in a fixed<br />
radius and is zero elsewhere.<br />
Linear - the magnitude <strong>of</strong> force is inversely and linearly proportional to the distance<br />
to the object.<br />
Exponential - the magnitude <strong>of</strong> force is inversely and exponentially proportional to<br />
the distance to the object.<br />
<strong>Paradigms</strong> <strong>of</strong> A.I. <strong>Robotics</strong> – p.31/
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