Bio-inspired Autonomous Navigation and Escape from Pursuers with Potential Functions
This paper addresses autonomous navigation and escape from pursuers by using a bio-inspired path planning approach that combines the notions of refuge and proteanism with popular potential functions in a grid based setting. The whole proposed design is divided into: a bio-inspired analysis of the environment that computes local goals (possible bio-inspired refuges or remote locations), potential functions over a grid, and bio-inspired proteanism through subgoals; and path planning with updates of the environment. Experiments show the differences of paths created by classic steepest descent search towards a local goal, or by using different subgoals along the way, and the improvement of the avoidance of capture from the latter.
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