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Minimalist Mobile Robotics
book

Minimalist Mobile Robotics

by Jonathan H. Connell
December 2012
Intermediate to advanced content levelIntermediate to advanced
192 pages
7h 37m
English
Morgan Kaufmann
Content preview from Minimalist Mobile Robotics
6.4 Extending arbitration
155
L2
R2
L1
R1
»
L
>
R
Figure
6-4. A
general valve-type suppressor node
for a
dual bundle unary
inputs.
of a suppressor node for commands of this form. Note that there
are two dominant inputs to each inhibition cluster which deter-
mine how much the inferior command is inhibited. Working
through the cascaded transformation we find:
By solving for the strength and direction of the resulting
command we can derive a general formulation for suppressor
nodes.
Note that the mixing depends onlyon the strength of the
dominant input (the higher subscripts).
D = L - R
=
(L
2
- R2> + (Ll " Rl) d - (Ll
+
Rl) )
= D2 + Di
(1
- S2 ...
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Publisher Resources

ISBN: 9780080511719