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In this paper we examine how simple agents similar to Braitenberg vehiclescan exhibit chaotic movement patterns. The agents are wall following robots asdescribed by Steve Mesburger and Alfred Hubler in their paper "Chaos in WallFollowing Robots". These agents uses a simple forward facing distance sensor,with a limited field of view "phi" for navigation. An agent drives forward at aconstant velocity and uses the sensor to turn right when it is too close to anobject and left when it is too far away.  For a flat wall the agent stays a fixed distance from the wall and travelsalong it, regardless of the sensor's capabilities. But, if the wall representsa periodic function, the agent drives on a periodic path when the sensor has anarrow field of view. The agent's trajectory transitions to chaos when thesensor's field of view is increased. Numerical experiments were performed withsquare, triangle, and sawtooth waves for the wall, to find this pattern. Thebifurcations of the agents were analyzed, finding both border collision andperiod doubling bifurcations. Detailed experimental results will be reportedseparately.

Chaotic Transitions in Wall Following Robots