ACTIVE AVOIDANCE: ESCAPE AND DODGING BEHAVIORS FOR REACTIVE CONTROL

摘要

New methods for producing avoidance behavior among moving obstacles within the context of reactive robotic control are described. These specifically include escape and dodging behaviors. Dodging is concerned with the avoidance of a ballistic projectile while escape is more useful within the context of chase. The motivation and formulation of these new reactive behaviors are presented. Both simulation and experimental results using a robot in a cluttered and moving world are provided.