Bio-Inspired Flocking & Potential Fields
Reynolds rules of separation, alignment, and cohesion mapped onto dynamic vehicle steering and throttle kinematics.
Eliminating Local Minima Traps
Harmonic potential functions derived from fluid dynamics satisfy Laplace equations, guaranteeing vehicles navigate around static and dynamic obstacles without falling into saddle-point zero-velocity deadlocks.
- Continuous real-time potential field evaluation at 100 Hz.
- Autonomous speed harmonization eliminating phantom braking waves.
- Dynamic clearance distances adapting automatically to road friction coefficients.
- Smooth, naturalistic passenger motion comfort adhering to ISO 2631.
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