Behavior: BHV_Loiter

Brief Synopsis:

A behavior for repeatedly traversing a given convex polygon of waypoints.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

A behavior for transiting to and repeatedly traversing a set of waypoints forming a convex polygon. A similar effect can be achieved with the Waypoint behavior but this behavior assumes a set of waypoints forming a convex polygon to exploit certain useful algorithms. It also utilizes the non-monotonic arrival criteria used in the Waypoint behavior to avoid loop-backs upon waypoint near-misses. It also robustly handles dynamic exit and re-entry modes when or if the vehicle diverges from the loiter region due to external events. It is dynamically reconfigurable to allow a mission control module to repeatedly reassign the vehicle to different loiter regions by using a single persistent instance of the behavior.