Behavior: BHV_PeriodicSpeed

Brief Synopsis:

A behavior for periodically influencing the vehicle speed.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

This behavior will periodically influence the speed of the vehicle while remaining neutral at other times. The timing is specified by a given period in which the influence is on (busy), and a period specifying when the influence if off (lazy). It was conceived for use on an AUV equipped with an acoustic modem to periodically slow the vehicle to reduce self-noise and reduce communication difficulty. One can also specify a flag (a MOOS variable and value) to be posted at the start of the period to prompt an outside action such as the start of communication attempts.