Page 199 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

174 ACCOUNTING FOR BODY DYNAMICS: THE JOGGER’S PROBLEM

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r u r u
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(e) (f)
Figure 4.12 Examples of performance of the Minimum Time Strategy. Parts (a) and
(b) differ in that more obstacles are added in (b).Parts (c) and (d) relate to the same
scenes, respectively, and have a larger radius of vision r v . The radius of vision in (f) is
significantly larger than that in (e). Note the stopping points along the paths.