2 Specifications for the Braitenberg Vehicles

Braitenberg conceived of his vehicles as moving in two dimensions using a pair of wheels driven by motors that are connected to a pair of sensors (see figure 1.1). The speed of each wheel is positively correlated with the activation of the sensor it is connected to. If the left sensor is connected to the left wheel and the right sensor is connected to the right wheel, the vehicle will turn away from the object that it detects (what Braitenberg [1984] calls a type 2a vehicle). If the left sensor is connected to the right wheel and the right sensor is connected to the left wheel, then the vehicle will turn toward the object that it detects (a type 2b Braitenberg vehicle).