Behavior: BHV_OpRegion

Brief Synopsis:

A behavior monitoring vehicle position to remain within a convex polygon region.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

This behavior provides four different types of safety functionality, (a) a boundary box given by a convex polygon in the x-y or lat-lon plane, (b) an overall timeout, (c) a depth limit, (d) an altitude limit. The behavior does not produce an objective function to influence the vehicle to avoid violating these safety constraints. This behavior merely monitors the constraints and posts an error which results in the posting of all-stop commands, which could put the vehicle into the PARK state if the helm is configured with park_on_allstop is set to true.