Active avoidance: escape and dodging behaviors for reactive control

摘要

Abstract: 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. Simulation results of a robot in a cluttered and moving world are also provided. !17