{"action":"opened","issue":{"url":"https://api.github.com/repos/lxfschr/Agent/issues/16","labels_url":"https://api.github.com/repos/lxfschr/Agent/issues/16/labels{/name}","comments_url":"https://api.github.com/repos/lxfschr/Agent/issues/16/comments","events_url":"https://api.github.com/repos/lxfschr/Agent/issues/16/events","html_url":"https://github.com/lxfschr/Agent/issues/16","id":58166328,"number":16,"title":"Implement Avoid Obstacle - Steer Away From Center Force","user":{"login":"lxfschr","id":6410403,"avatar_url":"https://avatars.githubusercontent.com/u/6410403?v=3","gravatar_id":"","url":"https://api.github.com/users/lxfschr","html_url":"https://github.com/lxfschr","followers_url":"https://api.github.com/users/lxfschr/followers","following_url":"https://api.github.com/users/lxfschr/following{/other_user}","gists_url":"https://api.github.com/users/lxfschr/gists{/gist_id}","starred_url":"https://api.github.com/users/lxfschr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lxfschr/subscriptions","organizations_url":"https://api.github.com/users/lxfschr/orgs","repos_url":"https://api.github.com/users/lxfschr/repos","events_url":"https://api.github.com/users/lxfschr/events{/privacy}","received_events_url":"https://api.github.com/users/lxfschr/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-02-19T04:21:47Z","updated_at":"2015-02-19T04:21:47Z","closed_at":null,"body":"The steer away from center technique basically considers the obstacle to be a point and says to steer in the direction opposite to that center point of the obstacle. If the center point is to the left of our path, we turn toward the right, if the center point is above our path, we dive down, and so on. The raw \"steer away from center\" technique is not very practical. It is similar to a spherical force field that is uniform over all distances. But it does have a better \"lateral acceleration as a function of horizontal offset\" response when we are flying directly into an obstacle. There is no \"dead spot\" near the center line of the obstacle (see figure 5).\r\nIt is possible to debug some of the shortcomings of this technique, although it is listed here primarily for completeness. For example there could be a distance limit, a maximum radius from the center point, hence the obstacle would be represented as a sphere. A moving object could simply ignore any obstacles further away than this radius. As with with the force field model, the steering behavior's strength can be made a function of distance. It would also be possible to sharpen the directional discrimination of this technique by making it active only when an obstacle is directly ahead of our moving object, as is discussed in more detail below."}}