Re: path planning using Braitenberg Vehicles
jon klein <[email protected]> Mon, 15 Aug 2005 09:04:38 -0400
| Newsgroups | gmane.comp.breve |
|---|---|
| Message-ID | <[email protected]> |
--===============49644090259896156== Content-Type: multipart/alternative; boundary=Apple-Mail-1--225009749 --Apple-Mail-1--225009749 Content-Transfer-Encoding: 7bit Content-Type: text/plain; charset=US-ASCII; delsp=yes; format=flowed On Aug 12, 2005, at 7:22 AM, Anand Veeraswamy wrote: > I am planning to use path planning and map building algorithms on > the Braitenberg Vehicles. The vehicle can now move about the world > without falling off the edge. It can move left, right, backwards > etc.....But now how would I go about implementing path planning?? > Should I be using one of the Patch classes to determine the > location of obstacles?? breve does not have any pre-made path planning capabilities, so you'll probably have to come up with your own approach. Using the PatchGrid class (or perhaps the Matrix2D class) sounds like a good idea -- you could use the 2D grid of values to represent the agent's knowledge of the world and the location of obstacles, and then try to find a path through that grid. > Is it possible to device a foolproof collision avoidance of light > objects using the braitenberg concept? If not how can I change the > default behaviour of the Sensors? That is when my vehicle senses a > light object instead of a linear response I would like it to move > backwards and take a right or left turn. Can this be done using the > set-activation-method ?? A foolproof collision avoidance behavior should be possible, but can challenging when many lights are present (as with real vehicles/ robots!) because the controllers are so simple and sometimes trigger conflicting behaviors. set-activation-method will allow you to specify more complex behaviors between stimulus and response and should help you a great deal in this case. It allows you to translate the sensor distance value into any motor response you want. The default method makes motor response increase as distance decreases, but your custom method could be far more complex -- it could have the default behavior up until a certain distance, but then have the reverse effect at close proximity, for example. - jon klein --Apple-Mail-1--225009749 Content-Transfer-Encoding: quoted-printable Content-Type: text/html; charset=ISO-8859-1 <HTML><BODY style=3D"word-wrap: break-word; -khtml-nbsp-mode: space; = -khtml-line-break: after-white-space; "><BR><DIV><DIV>On Aug 12, 2005, = at 7:22 AM, Anand Veeraswamy wrote:</DIV><BR = class=3D"Apple-interchange-newline"><BLOCKQUOTE type=3D"cite"> = <DIV><FONT face=3D"Arial" size=3D"2">I am planning to use path planning = and map building algorithms on the Braitenberg Vehicles. The vehicle can = now move about the world without falling off the edge. It can move left, = right, backwards etc.....But now how would I go about implementing path = planning?? Should I be using one of the Patch classes to determine the = location of obstacles??</FONT></DIV> </BLOCKQUOTE><DIV><BR = class=3D"khtml-block-placeholder"></DIV><DIV>breve does not have any = pre-made path planning capabilities, so you'll probably have to come up = with your own approach.=A0 Using the PatchGrid class (or perhaps the = Matrix2D class) sounds like a good idea -- you could use the 2D grid of = values to represent the agent's knowledge of the world and the location = of obstacles, and then try to find a path through that = grid.</DIV><BR><BLOCKQUOTE type=3D"cite"><DIV></DIV> <DIV><FONT = face=3D"Arial" size=3D"2">Is it possible to device a foolproof collision = avoidance of light objects using the braitenberg concept? If not how can = I change the default behaviour of the Sensors? That is when my vehicle = senses a light object instead of a linear response I would like it to = move backwards and take a right or left turn. Can this be done using the = set-activation-method ??</FONT></DIV></BLOCKQUOTE><BR></DIV><DIV>A = foolproof collision avoidance behavior should be possible, but can = challenging when many lights are present (as with real vehicles/robots!) = because the controllers are so simple and sometimes trigger conflicting = behaviors.=A0=A0</DIV><DIV><BR = class=3D"khtml-block-placeholder"></DIV><DIV>set-activation-method will = allow you to specify more complex behaviors between stimulus and = response and should help you a great deal in this case.=A0 It allows you = to translate the sensor distance value into any motor response you = want.=A0 The default method makes motor response increase as distance = decreases, but your custom method could be far more complex -- it could = have the default behavior up until a certain distance, but then have the = reverse effect at close proximity, for example.</DIV><DIV><BR = class=3D"khtml-block-placeholder"></DIV><DIV>- jon = klein</DIV></BODY></HTML>= --Apple-Mail-1--225009749-- --===============49644090259896156== Content-Type: text/plain; charset="us-ascii" MIME-Version: 1.0 Content-Transfer-Encoding: 7bit Content-Disposition: inline _______________________________________________ breve mailing list [email protected] http://lists.spiderland.org/mailman/listinfo/breve --===============49644090259896156==--