Behavior: BHV_MaxDepth

Brief Synopsis:

A behavior to influence the vehicle to go no deeper than a given depth.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

This behavior will drive the vehicle within a configured depth tolerance. This behavior merely expresses a preference for a particular depth. If other behaviors also have a depth preference, coordination/compromise will take place through the multi-objective optimization process. This behavior differs from the maximum depth in the OpRegion behavior. In the MaxDepth behavior, an objective function is produced to prevent the vehicle from exceeding the maximum depth, perhaps tempering other behaviors that may prefer deeper depths. In the OpRegion behavior there is no attempt to influence the vehicle depth, but rather only to monitor the observed depth and produce an error if the depth is exceeded.