The dynamics of photo-taxis: Applying the agent environment interaction system to a simple Braitenberg robot

Abstract

This paper describes a dynamic system used to model the behaviour of a-Photon, a simple Braitenberg robot designed to achieve photo-taxis with a single, stationary light source. The model is based on the Agent Environment Interaction System described in [Smithers 1994]. The equations detailed in this paper model both the robot and the environment so as to allow a full analysis of the completed agent-environment interaction system. Finally, a numeric simulation system is developed and used to solve the coupled agent-environment interaction system. Graphical simulation results are presented in the form of the agent's absolute track in a 2D Cartesian space.