This week was a continuation of the last with just testing constants and finding a way of avoiding the confused spinning between the obstacles. Here is a snapshot of the simulated terrain with PlayerStage:

As of today that is still the problem. I went through all kinds of functions, from constant to parabolic to exponentials. The day before yesterday Fritz said that it should be a Sigmoid function so i looked that up and tried that but it also didn't work. I read a lot of papers on the topic and the last one I found is very good and it turns out my function should be piece-wise with a constant part and a parabolic part, I did that but I run into the same problem i did before. It moves just find until it reaches two obstacles on each side. then it either starts to spin infinetly or it turn around and goes in a direction opposite of the one it should or anything random along those lines. I read online that this algorith has that problem of getting confused between two obstacles( about where it is on the snapshot above) and i am still trying to figure out what could fix that. I will try to scale the obstacle vector later today make it a little smaller maybe that will help. It's getting on my nervs and the approximation or nomalization which Bill and Fritz suggest doesn't really work. It doesn't look like i will get to the other project any time soon. Fritz said on monday that he really didn't plan for this to be that hard but it turns out it is and that he will help me sort it out by thursday but he just comes occasionally and says to try another random function cause that may "luckily" work and nothing. I really want to finish it. Bill is not here this week.