Steering without Representation with the Use of Active Fixation

Abstract

This paper demonstrates the use of active fixation on both fixed and moving fixation points to guide a robot vehicle by means of a steering rule which, at large distances, sets the steering angle directly proportional to the deviation of gaze direction from translation direction. Steering a motor vehicle around a winding but otherwise uncluttered road has been observed by Land and Lee to involve repeated periods of visual fixation upon the tangent point of the inside of each bend. We suggest that proportional rule devised for steering in the robotic example appears applicable to the observed human performance data, providing an alternative explanation to the quadratic rule proposed by Land and Lee.