Non-linear dynamical system approach to behavior modeling

摘要

We present a dynamic systems approach to modeling and generating low-level behav- iors for autonomous agents. Such behaviors include real-time target tracking and obsta- cle avoidance in time-varying environments. The novelty of the method lies on the inte- Gration of distinct non-linear dynamic sys- Tems to model the agent's interaction with The environment. An angular velocity con- Trol dynamic system guides the agent's di- rection angle, while another dynamic system Selects the environmental input that will be Used in the control system.