Behavior: BHV_StationKeep

Brief Synopsis:

A behavior for holding a vehicle at a given position.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

This behavior is designed to keep the vehicle at a given lat/lon or x,y station-keep position by varying the speed to the station point as a linear function of its distance to the point. The parameters allow one to choose the two distances between which the speed varies linearly, the range of linear speeds, and a default transit speed if the vehicle is outside the outer radius. An alternative to this station keeping behavior is an active loiter around a very tight polygon with the Loiter behavior. This station keeping behavior conserves energy and aims to minimize propulsor use. The behavior can be configured to station-keep at a pre-set point, or wherever the vehicle happens to be when the behavior transitions into an active state. The station-keep behavior was initially developed for use on a small autonomous surface craft. It's worth pointing out that a control system provided by a vehicle manufacturer, i.e., the front-seat system, may have a native station-keeping mode. In this case the activation of this behavior would be replaced by a message from the backseat autonomy system to invoke the station-keeping mode.