Analysis of Champion Animat (1)

(IFLTE 0.98413 _A (IFLTE _C _G (- _D (IFLTE _C (IFLTE (+ _A _B) _F _E (RIGHT_TURN)) (% _H _E) (LEFT_TURN))) (LEFT_TURN)) (% _A _G))

if (front < 0.98413) go straight
else if (right >= left) turn left
else if (front+front_right) >= rear_left turn right
else turn left