List of commands and their trigger conditions used by the pioneer 3 mobile robot.
|Drive forward at 100 mm/sec||Area falls below 4% of the entire screen|
|Drive backward at 100 mm/sec||Area reaches above 20% of the entire screen|
|Turn left 4°||Centroid lies between 21% and 40% of the maximum width|
|Turn left 12°||Centroid lies below 20% of the maximum width|
|Turn right 4°||Centroid lies between 60% and 79% of the maximum width|
|Turn right 12°||Centroid lies above 80% of the maximum width|