Behavior: BHV_Racetrack

Brief Synopsis:

Behavior for executing a racetrack survey with configurable length, width and heading, with tight tracklines.

Authors:

  • Henrik Schmidt

Groups:

Distribution:

  • lamss.mit.edu

Contact Email:

  • henrik@mit.edu

Function:

Behavior for executing a racetrack survey with configurable length, width, and heading, and combined with arbitrary depth behaviors, including constant depth, dual in/out depths, smart yoyo, and environmentally adaptive for sensing optimization. The tight tracklines are only distorted by obstacle and collision avoidance behaviors. A behavior flag indicates when on a trackline and is typically used for disabling GPS surfacings to avoid distorting side scan images etc.