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Steering Behaviors

Steering Behaviors. What are Steering Behaviors means of locomotion for autonomous agents and robots. largely independent can be combined improvisational and reactive. Steering Behaviors. What Steering Behaviors are NOT action plan searching puzzle-solving

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Steering Behaviors

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  1. Steering Behaviors • What are Steering Behaviors • means of locomotion for autonomous agentsand robots. • largely independent • can be combined • improvisational and reactive

  2. Steering Behaviors • What Steering Behaviors are NOT • action plan • searching • puzzle-solving • anything needed global information

  3. primarily based on: Steering Behaviors For Autonomous Characters by: Craig Reynolds Presented by: Kevin M. Kelly Steering Behaviors

  4. Steering Behaviors

  5. Flocking • Designed for Computer Animation (Reynolds '87)

  6. Flocking • Steering behaviors grew from “Flocking” • Craig Reynolds “Boids” • Three separate steering behaviors combined • Separation • Cohesion • Alignment • Combined by simple vector addition • Flocking Demo: http://www.red3d.com/cwr/boids/

  7. Current Uses • Now used for many purposes • Computer animation in movies • Video games • Simulations • Robotics

  8. Steering Behaviors • Architecture from theInternational GameDevelopers Association

  9. Parts of the Steering Architecture • Steering World Interface • provides information about the world • Steering Behaviors • the behaviors themselves – each output independent steering goals • Arbitrator • combine the steering goals (this is very difficult) • Actuator • Actual movement code – specific to the application

  10. Arbitrator • The arbitrator is the most difficult part of using steering behaviors • Flocking used the simplest form of arbitrator • simple combination • Other types of arbitration • Prioritized (much like Brooks's actuated control) • Heuristic • application dependent • Reverse • select best one of each • Round Robin • each gets a turn

  11. Vehicle Model • Simple Vehicle Model (could be 2D or 3D) • a “Mass Point” • Has the following attributes • mass • position • velocity • max_force • max_speed • orientation • updated at each time step

  12. Vehicle Model • Steering behaviors give a force or acceleration vector • Could extrapolate to more complex vehicles

  13. Examples (single behavior) • Seek • Flee • Evasion • Pursuit • Wander • Arrival • Obstacle Avoidance • Containment • Wall Following • Path Following

  14. Seek and Flee • http://www.red3d.com/cwr/steer/SeekFlee.html

  15. Pursue and Evade • http://www.red3d.com/cwr/steer/PursueEvade.html

  16. Wander • http://www.red3d.com/cwr/steer/Wander.html

  17. Arrival • http://www.red3d.com/cwr/steer/Arrival.html

  18. Obstacle Avoidance • http://www.red3d.com/cwr/steer/Obstacle.html

  19. Containment and Wall Following • http://www.red3d.com/cwr/steer/Containment.html • http://www.red3d.com/cwr/steer/Wall.html

  20. Path Following • http://www.red3d.com/cwr/steer/PathFollow.html

  21. Examples (combined behaviors) • Crowd Path Following • Leader Following • Unaligned collision avoidance • Queuing • Flocking

  22. Crowd Path Following • Weighted Combination of • Path Following • Separation • http://www.red3d.com/cwr/steer/CrowdPath.html Path Following Separation

  23. Leader Following • Combination of • Separation • Arrival (point slightly behind the leader) • http://www.red3d.com/cwr/steer/LeaderFollow.html Arrival Separation

  24. Unaligned Collision Avoidance • Combination of • Containment • Unaligned Collision Avoidance • http://www.red3d.com/cwr/steer/Unaligned.html Containment Unaligned Collision Avoidance

  25. Queuing • Combination of • Seek • Containment • Separation • http://www.red3d.com/cwr/steer/Doorway.html Seek Separation Containment

  26. Flocking • Combination of • Alignment • Cohesion • Separation • http://www.red3d.com/cwr/boids/ Separation Alignment Cohesion

  27. Conclusions • Simple behaviors can create realistic looking effects • Looks more natural than fully planned • Easy combination created for Flocking does not work with everything

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