Behavior: BHV_MemoryTurnLimit

Brief Synopsis:

A behavior preventing quick wrap-around turns, especiall with towed sensor.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

The objective of the MemoryTurnLimit behavior is to avoid vehicle turns that may cross back on its own path and risk damage to the towed equipment. Its configuration is determined by the two parameters which combine to set a vehicle turn radius limit. However, it is not strictly described by a limited turn radius; it stores a time-stamped history of recent recorded headings and maintains a heading average, and forms its objective function on a range deviation from that average. This behavior merely expresses a preference for a particular heading. If other behaviors also have a heading preference, coordination/compromise will take place through the multi-objective optimization process.