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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 - PowerPoint PPT Presentation
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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 anything needed global information
Steering Behaviors
primarily based on: Steering Behaviors For Autonomous Characters
by: Craig Reynolds
Presented by: Kevin M. Kelly
Steering Behaviors
Flocking
● Designed for Computer Animation (Reynolds '87)
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/
Current Uses
● Now used for many purposes Computer animation in movies Video games Simulations Robotics
Steering Behaviors
● Architecture from theInternational GameDevelopers Association
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
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
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
Vehicle Model
● Steering behaviors give a force or acceleration vector
● Could extrapolate to more complex vehicles
Examples (single behavior)
● Seek● Flee● Evasion● Pursuit● Wander● Arrival● Obstacle Avoidance● Containment● Wall Following● Path Following
Seek and Flee
● http://www.red3d.com/cwr/steer/SeekFlee.html
Pursue and Evade
● http://www.red3d.com/cwr/steer/PursueEvade.html
Wander
● http://www.red3d.com/cwr/steer/Wander.html
Arrival
● http://www.red3d.com/cwr/steer/Arrival.html
Obstacle Avoidance
● http://www.red3d.com/cwr/steer/Obstacle.html
Containment and Wall Following
● http://www.red3d.com/cwr/steer/Containment.html
● http://www.red3d.com/cwr/steer/Wall.html
Path Following
● http://www.red3d.com/cwr/steer/PathFollow.html
Examples (combined behaviors)
● Crowd Path Following● Leader Following● Unaligned collision avoidance● Queuing● Flocking
Crowd Path Following
● Weighted Combination of Path Following Separation
● http://www.red3d.com/cwr/steer/CrowdPath.html
Path Following
Separation
Leader Following
● Combination of Separation Arrival (point slightly behind the leader)
● http://www.red3d.com/cwr/steer/LeaderFollow.html
Arrival
Separation
Unaligned Collision Avoidance
● Combination of Containment Unaligned Collision Avoidance
● http://www.red3d.com/cwr/steer/Unaligned.html
Containment
Unaligned Collision Avoidance
Queuing
● Combination of Seek Containment Separation
● http://www.red3d.com/cwr/steer/Doorway.html
Containment
SeparationSeek
Flocking
● Combination of Alignment Cohesion Separation
● http://www.red3d.com/cwr/boids/
Cohesion
SeparationAlignment
Conclusions
● Simple behaviors can create realistic looking effects
● Looks more natural than fully planned● Easy combination created for Flocking does not
work with everything