December 2012
Intermediate to advanced
192 pages
7h 37m
English
Content preview from Minimalist Mobile Robotics
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5.2 Tactical navigation
123
VEER
range
HUG
range
Figure
5-8. The VEER
behavior tries
to
keep obstacles
out of the
robot's
front
quadrant.
The HUG
behavior maneuvers
the
robot
to
keep some thing
into
the
front half
of the
robot's space. Together, these behaviors keep
objects
at a
constant azimuth (gray sensors).
The necessary heading corrections are made by the HUG
module. Like VEER it uses a space table, but turns toward the
closest object sensed. HUG only generates commands when
there is no object in the front portion of the robot's space. Figure
5-8 shows the active ranges for VEER and HUG assuming that
there is only one object in the environment ...
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