Page 10 - Introduction to AI Robotics

Contents
4.3 Subsumption Architecture 113 xi
4.3.1 Example 115
4.3.2 Subsumption summary 121
4.4 Potential Fields Methodologies 122
4.4.1 Visualizing potential fields 123
4.4.2 Magnitude profiles 126
4.4.3 Potential fields and perception 128
4.4.4 Programming a single potential field 129
4.4.5 Combination of fields and behaviors 130
4.4.6 Example using one behavior per sensor 134
4.4.7 Pfields compared with subsumption 136
4.4.8 Advantages and disadvantages 145
4.5 Evaluation of Reactive Architectures 147
4.6 Summary 148
4.7 Exercises 149
4.8 End Notes 152
5 Designing a Reactive Implementation 155
5.1 Overview 155
5.2 Behaviors as Objects in OOP 157
5.2.1 Example: A primitive move-to-goal behavior 158
5.2.2 Example: An abstract follow-corridor behavior 160
5.2.3 Where do releasers go in OOP? 162
5.3 Steps in Designing a Reactive Behavioral System 163
5.4 Case Study: Unmanned Ground Robotics Competition 165
5.5 Assemblages of Behaviors 173
5.5.1 Finite state automata 174
5.5.2 A Pick Up the Trash FSA 178
5.5.3 Implementation examples 182
5.5.4 Abstract behaviors 184
5.5.5 Scripts 184
5.6 Summary 187
5.7 Exercises 188
5.8 End Notes 191
6 Common Sensing Techniques for Reactive Robots 195
6.1 Overview 196
6.1.1 Logical sensors 197
6.2 Behavioral Sensor Fusion 198