swimmer with obstacles

Here, a 3-segment swimmer tries to keep its head away from the big pink obstacles, while bringing it to the green target. When the target is moved away by the user, the swimmer finds the right motion pattern that would bring it safely over.

At every time step of the animation, a locally-optimal trajectory is computed (illustrated with a grey line), but only the first action of the optimized sequence is executed, while the rest of the trajectory is used to initialize the optimization at the next time step.

Category:

Science & Technology

Tags:

• swimmer
• with
• obstacles
• long