Paradigms of A.I. Robotics

Following a Corridor
RUNAWAYpf: uses repulsive field to generate new heading. Each
sonar reading activates an instance of RUNAWAYpf, the resulting
vectors are summed and then passed to TURN.
COLLIDE: cannot be mapped as a behaviour with the PF method.
Instead, collisions trigger emergency responses outside the
potential field framework.
WANDERpf: generates a random heading and a uniform field in
the direction of that heading (the output of WANDERpf is naturally
summed with the output of RUNAWAYpf via combination of
potential fields).
FOLLOW CORRIDOR: is the potential field pictured in the
previous slide.
Paradigms of A.I. Robotics – p.36/