Advanced & Group Steering
A PRESENTATION BY SHIFT OUR BITS MINUS
BUDDY PLUS AMANDA
What You’re Sitting Through Today
 Obstacle Avoidance
 Wall Avoidance
 Group Behaviors
 Separation
 Cohesion
 Alignment
 Flocking
Obstacle Avoidance
 The protruding rectangle prevents the vehicle from
hitting occupied spaces.
Steering Force
 Subtract the y value of the obstacle’s local position from its
radius
Lateral Force
Breaking Force
Wall Avoidance
 Three “Feelers” protrude from the vehicle to “feel”
for the presence of a wall.
 These “Feelers” are similar to cats using their
whiskers to navigate in the dark.
Group Behaviors
 http://youtu.be/Ap4ABSIzD3o
 Separation
 Cohesion
 Alignment
 Flocking
Separation
 Creates a force that steers a vehicle away from
those in its neighborhood region
 When applied to multiple vehicles, they will try to
maximize their distance from each other
Cohesion
 The opposite of Separation
 The vehicles move toward the center of mass of its
neighbors
 Each vehicle seeks the position of the center of
mass of the neighbors
Alignment
 Each vehicle keeps its head aligned with its
neighbors
CLASS ACTIVITY
Flocking
CLASS ACTIVITY
Wake Up, It’s Over
 Thanks for acting interested.