Analysis of Champion Animat (2)
(IFLTE 0.98413 (% _A _G)
(IFLTE _C _G
(- _D (IFLTE (IFLTE
(IFLTE _G _D
_F
(RIGHT_TURN) )
_D
(IFLTE _G (- _A 0.07937) (LEFT_TURN) _C)
(RIGHT_TURN))
(+ (IFLTE (IFLTE (IFLTE (IFLTE _G (% _C _A) _F (+ (RIGHT_TURN) (LEFT_TURN))) _A _C (RIGHT_TURN)) (IFLTE _B _G (* _C _F) (LEFT_TURN)) _F (+ (LEFT_TURN) (LEFT_TURN))) _A _D _D) _D) _D _D))
(LEFT_TURN))
(% _A _A))
if 0.98 > front/left go straight
else if right > left turn left
else if left > rear_right turn right
else if rear_left > rear_right turn right
else if left < (front - 0.07) turn left
else if ...