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Talk-11: Bounding the Operating Area with a Confines Behavior
Alon Yaari, MIT, Laboratory for Autonomous Marine Sensing Systems
When operating autonomous surface or underwater vehicles, it is useful to limit the vehicle to operate within a bounded area and to restrict vehicle entry from an defined space. Existing behaviors such as IvP's BHV_OpRegion and BHV_RubberBand and Kemna's BHV_BounceBack (http://oceanai.mit.edu/moos-dawg11/material/21-brief-kemna.pdf) offer solutions for specific operating conditions but each with situational drawbacks. BHV_Confines was developed to provide a way to constrain vehicle operation when deploying in a defined test area. BHV_Confines treats the boundary as a wall that the vehicle can approach but not cross. Autonomy is handled passively, by restricting actions that violate the boundary. Active direction is provided only if the boundary is violated, when priority is given to return to valid waters.
This talk reviews existing behaviors for restricting operating areas then introduces BHV_Confines. Examples are provided that demonstrate where BHV_Confines is useful standalone and in concert with other restriction behaviors.
Categories:
- Vehicle Safety
- Autonomous Surface Vehicles (ASVs)
- Autonomous Underwater Vehicles (AUVs)
- MOOS-IvP
- IvP Behaviors