Behavior: BHV_Waypoint

Brief Synopsis:

A behavior for traversing a given set of waypoints.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

The Waypoint behavior is used for transiting to a set of specified waypoint in the x-y plane. The primary parameter is the set of waypoints. Other key parameters are the inner and outer radius around each waypoint that determine what it means to have met the conditions for moving on to the next waypoint. The behavior may also be configured to perform a degree of track-line following, that is, steering the vehicle not necessarily toward the next waypoint, but to a point on the line between the previous and next waypoint. This is to ensure the vehicle stays closer to this line in the face of external forces such as wind or current. The behavior may also be set to "repeat" the set of waypoints indefinitely, or a fixed number of times. The waypoints may be specified either directly at start-up, or supplied dynamically during operation of the vehicle. There are also a number of accepted geometry patterns that may be given in lieu of specific waypoints, such as polygons, lawnmower pattern and so on.