Page 178 - Introduction to AI Robotics

5.2 Behaviors as Objects in OOP

follow corridor 161
vector summation of MS

Motor Motor Perceptual
Schema 1: Schema 2: Schema 1:
perpendicular uniform find-walls
(polar plot)

a.

follow corridor
vector summation of behaviors

Behavior 1: Behavior 1:
follow-wall follow-wall
(left) (right)

Motor Perceptual
Schema: Schema:
follow-wall find-walls
(which-side) (polar plot)

b.

Figure 5.2 Class diagrams for two different implementations of
follow_corridor: a.) use of primitive fields, and b.) reuse of fields grouped into a
follow_wall behavior.