TrackLine Task
Description
This tasks directs the vehicle along a line from P1 to P2. Underlying the task is
a constantly varying waypoint which leads the vehicle along the line. The goal way point
is determined by finding the perpendicular intersection from the line to the vehicle location.
This gives the nears point on the line to the vehicle. This point is then advanced LEADm
towards P2. If the resulting goal point (which continually changes) is outside P1
or P2 then the closest way point is choosen as the goal. Note LEAD needs to be big
enough to give smooth performance. If oscillator performance results increase LEAD
Publishes
Subscribes
- StartFlags
- NAV_X
- NAV_Y
- NAV_YAW
Configuration Block
- Common Task Parameters
P1 / P2
- Syntax: P2 = X,Y (m)
- Meaning: Set location of start and end of track line
- Example: P2 = 55,200 trackline ends at 55,200
Thrust
- Syntax: Thrust = Thrust[0-100]
- Meaning: Set Thrust of survey operation
- Example: Thrust = 10 go at ten percent throttle.
RADIUS
- Syntax: RADIUS = distance (m)
- Meaning: Set the tolerance on waypoint goal (see WayPointTask)
- Example: RADIUS = 8 the tackline will complete when the distance to P2 is within 8 m.
LEAD
- Syntax: LEAD = distance (m)
- Meaning: Set the "lead" on each trackline. The distance ahead of the perpendicular bisector that the vehicle heads for on a trackline.
- Example: LEAD = 10 aim 10 m ahead
Example Block
Task = TrackLine
{
Name = East
Priority = 3
InitialState = ON
TimeOut = 200
FinishFlag = EndMission
Thrust = 6
P1 = 2,0,0
P2 = 2,6,0
Radius = 1
Lead = 1
LOGPID = true
}
The MOOS © P. Newman 2001-2002 