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4.4 Potential Fields Methodologies
Figure 4.25 Docking potential field showing path of robot entering from slightly off
course.
ordinated control program to coordinate and control these schemas. In the
case of the docking behavior, a type of finite state machine is a reasonable
choice for coordinating the sequence of perceptual and motor schemas. It
provides a formal means of representing the sequence, and also reminds the
designer to consider state transitions out of the ordinary. For instance, the
robot could be moving toward the dock under the tangential plus selective
attention fields when a person walks in front. This would occlude the view
