File:A-Bio-inspired-Collision-Avoidance-Model-Based-on-Spatial-Information-Derived-from-Motion-Detectors-pcbi.1004339.s020.ogv

English: The agent’s view while moving through a cluttered environment. The trajectory is shown in Fig 10, top-left. Objects and walls are covered with a 4mm random checkerboard pattern. Top: Agent’s view. Overlay: The relative points of nearness along the azimuth extracted from EMD responses during the last intersaccade. The goal direction and CAD are indicated by the green and red line, respectively. The length of the red and green line indicate the necessity to follow the CAD or goal direction based on the weighting function. The dotted line is the saccade direction. Bottom: The agent’s position and orientation in the environment. Objects are represented by black squares, agent’s current position and orientation in blue and agent’s past position in gray. The behavioral state of the agent, saccade or intersaccade is indicated by a white circle.