A Bio-inspired Collision Avoidance Model Based on Spatial Information Derived from Motion Detectors Leads to Common Routes
Fig 8
Trajectories of the agent with a collision avoidance system based on EMDs in a box (40 × 40 × 40cm) containing up to four objects and covered with different patterns (seen from above).
The pattern on the objects and wall were 1mm and 4mm random checkerboards for the top and bottom panels, respectively. A, D) One object in the center of the box. B, E) Two objects on one diagonal. C, F) Four objects on the diagonals. The objects were vertical bars with a quadratic base with a side length of 3cm and a height of 40cm. The gain and the threshold of the weighting function was 2 and 4, respectively, for all cases.