Combination of fields and behaviors

Combination of fields and behaviors

As stated earlier in the chapter, the first attribute of a true potential fields
methodology is that it requires all behaviors to be implemented as potential
fields. The second attribute is that it combines behaviors not by one subsuming
others, but by vector summation. A robot will generally have forces
acting on it from multiple behaviors, all acting concurrently. This section
provides two examples of how multiple behaviors arise and how they are
implemented and combined.
The first example is simple navigation, where a robot is heading for a goal
(specified as “10.3m in direction ”) and encounters an obstacle. The motor

of 0.0). It moves on a straight line for the goal. At t2, it updates its sensors
and now perceives both the goal and the obstacle. Both behaviors contribute
a vector; the vectors are summed and the robot now moves off course. At t3,
the robot has almost moved beyond the obstacle and the goal is exerting the
stronger force. At t4, it resumes course and reaches the goal.