EDU.gatech.cc.is.clay
Class v_Avoid_va
java.lang.Object
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+--EDU.gatech.cc.is.clay.Node
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+--EDU.gatech.cc.is.clay.NodeVec2
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+--EDU.gatech.cc.is.clay.v_Avoid_va
- public class v_Avoid_va
- extends NodeVec2
This node (motor schema) generates a vector away from the
items detected by its embedded perceptual schema.
Magnitude varies from 0 to 1.
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
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Field Summary |
static boolean |
DEBUG
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|
Method Summary |
Vec2 |
Value(long timestamp)
Return a Vec2 representing the direction to go away from
the detected hazards. |
| Methods inherited from class EDU.gatech.cc.is.clay.Node |
initTrial |
| Methods inherited from class java.lang.Object |
clone,
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
DEBUG
public static final boolean DEBUG
v_Avoid_va
public v_Avoid_va(double soe,
double s,
NodeVec2Array im1)
- Instantiate a v_Avoid_va schema.
- Parameters:
soe - double, the sphere of influence beyond which the hazards
are not considered.s - double, the safety zone, inside of which a maximum repulsion
from the object is generated.im1 - NodeVec2Array, the embedded node that generates a list
of items to avoid.
Value
public Vec2 Value(long timestamp)
- Return a Vec2 representing the direction to go away from
the detected hazards.
- Overrides:
- Value in class NodeVec2
- Parameters:
timestamp - long, only get new information if timestamp > than last call
or timestamp == -1.- Returns:
- the movement vector.