Example - 1

Example

These aspects are best illustrated by an example, extensively modified from
Brooks’ original paper27 in order to be consistent with schema theory terminology
and to facilitate comparison with a potential fields methodology. A
robot capable of moving forward while not colliding with anything could be
LEVEL 0: AVOID represented with a single layer, Level 0. In this example, the robot has multiple
sonars (or other range sensors), each pointing in a different direction,
and two actuators, one for driving forward and one for turning.
Following Fig. 4.6, the SONAR module reads the sonar ranges, does any
POLAR PLOT filtering of noise, and produces a polar plot. A polar plot represents the range
readings in polar coordinates, (r; ), surrounding the robot. As shown in
Fig. 4.7, the polar plot can be “unwound.”
If the range reading for the sonar facing dead ahead is below a certain
threshold, the COLLIDE module declares a collision and sends the halt signal
to the FORWARD drive actuator. If the robot was moving forward, it now
stops. Meanwhile, the FEELFORCE module is receiving the same polar plot.
It treats each sonar reading as a repulsive force, which can be represented