>xabsl 2
Behavior Documentation
>Index
>Agents
>Symbols
>Basic Behaviors
>Options
>> get-to-position-and-avoid-obstacles
>>> near-destination
>>> far-from-destination
>>> at-destination

Option get-to-position-and-avoid-obstacles

Gets to a position and avoids obstacles on the way there

Parameters of that option:
Parameter Measure Range Description
get-to-position-and-avoid-obstacles.x mm -2500..2500 The destination x position
get-to-position-and-avoid-obstacles.y mm -2000..2000 The destination y position
get-to-position-and-avoid-obstacles.destination-angle deg -180..180 The angle at the destination
get-to-position-and-avoid-obstacles.max-speed mm/s 0..300 The maximum walk speed that is used
get-to-position-and-avoid-obstacles.no-obstacle-avoidance-distance mm 0..2000 If closer to the destination than this distance, no obstacles are avoided
get-to-position-and-avoid-obstacles.avoid-penalty-areas boolean 0,1 If 1, the penalty areas shall be avoided
get-to-position-and-avoid-obstacles.avoidance-level int 0|1|2 0 for weak avoidance, 2 for strong avoidance

State Machine

State near-destination

If that state is active,

The basic behavior go-to-point is executed. Parameters:

go-to-point.x	=	::get-to-position-and-avoid-obstacles.x ;
go-to-point.y	=	::get-to-position-and-avoid-obstacles.y ;
go-to-point.destination-angle	=	::get-to-position-and-avoid-obstacles.destination-angle ;
go-to-point.distance-remain	=	80 ;
go-to-point.angle-remain	=	10 ;
go-to-point.max-speed	=	::get-to-position-and-avoid-obstacles.max-speed ;

The decision tree:

Pseudo code of the decision tree:

if (

distance-to( ::get-to-position-and-avoid-obstacles.x , ::get-to-position-and-avoid-obstacles.y ) > (::get-to-position-and-avoid-obstacles.no-obstacle-avoidance-distance + 250)

)

// far from destination

{

transition-to-state(far-from-destination);

}

else if (

(

robot-pose.validity > 0.4

)

(

distance-to( ::get-to-position-and-avoid-obstacles.x , ::get-to-position-and-avoid-obstacles.y ) < 80

)

(

robot-pose.angle < (::get-to-position-and-avoid-obstacles.destination-angle + 10)

)

(

robot-pose.angle > (::get-to-position-and-avoid-obstacles.destination-angle - 10)

)

// arrrived at position

{

transition-to-state(at-destination);

}

else

{

transition-to-state(near-destination);

}

State far-from-destination

If that state is active,

The basic behavior go-to-point-and-avoid-obstacles is executed. Parameters:

go-to-point-and-avoid-obstacles.x	=	::get-to-position-and-avoid-obstacles.x ;
go-to-point-and-avoid-obstacles.y	=	::get-to-position-and-avoid-obstacles.y ;
go-to-point-and-avoid-obstacles.max-speed	=	::get-to-position-and-avoid-obstacles.max-speed ;
go-to-point-and-avoid-obstacles.avoidance-level	=	::get-to-position-and-avoid-obstacles.avoidance-level ;

The decision tree:

Pseudo code of the decision tree:

if (

distance-to( ::get-to-position-and-avoid-obstacles.x , ::get-to-position-and-avoid-obstacles.y ) < ::get-to-position-and-avoid-obstacles.no-obstacle-avoidance-distance

)

// near destination

{

transition-to-state(near-destination);

}

else

{

transition-to-state(far-from-destination);

}

State at-destination

This state is a target state.

If that state is active,

The basic behavior stand is executed.

The decision tree:

Pseudo code of the decision tree:

if (

(

distance-to( ::get-to-position-and-avoid-obstacles.x , ::get-to-position-and-avoid-obstacles.y ) > 50

)

(

robot-pose.angle > (::get-to-position-and-avoid-obstacles.destination-angle + 6)

)

(

robot-pose.angle < (::get-to-position-and-avoid-obstacles.destination-angle - 6)

)

// not at position

{

transition-to-state(near-destination);

}

else

{

transition-to-state(at-destination);

}