An Empirical Evidence of Braitenberg Vehicle 2b Behaving as a Billiard Ball

Braitenberg vehicles have been used experimentally for decades in robotics with limited empirical understanding. This paper presents the first mathematical model of the vehicle 2b, displaying so-called aggression behaviour, and analyses the possible trajectories for point-like smooth stimulus sources. This sensory-motor steering control mechanism is used to implement biologically grounded target approach, target-seeking or obstacle-avoidance behaviour. However, the analysis of the resulting model reveals that complex and unexpected trajectories can result even for point-like stimuli. We also prove how the implementation of the controller and the vehicle morphology interact to affect the behaviour of the vehicle. This work provides a better understanding of Braitenberg vehicle 2b, explains experimental results and paves the way for a formally grounded application on robotics as well as for a new way of understanding target seeking in biology.

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An Empirical Evidence of Braitenberg Vehicle 2b Behaving as a Billiard Ball

Cited by 4 publications

References 10 publications

A Wandering Braitenberg Vehicle 2b That Densely Covers a Bounded Workspace

A Wandering Braitenberg Vehicle 2b That Densely Covers a Bounded Workspace

An Introduction to the Analysis of Braitenberg Vehicles 2 and 3 Using Phase Plane Portrait

A systematic analysis of the Braitenberg vehicle 2b for point-like stimulus sources

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