>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  obstacle-avoidance-challenge03
        >>>  stand-still
        >>>  localize
        >>>  turn
        >>>  move-to-other-half-and-avoid-obstacles

Option obstacle-avoidance-challenge03

State Machine

This browser can't display the SVG file svg/option_obstacle-avoidance-challenge03.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html

State stand-still

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.directed-scan-for-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_obstacle-avoidance-challenge03_state_stand-still.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (robot-state.head-button-pressed-short)   //
{
  
transition-to-state(move-to-other-half-and-avoid-obstacles);
}
else
{
  
transition-to-state(stand-still);
}

State localize

If that state is active,
 >  The basic behavior stand is executed.
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.directed-scan-for-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_obstacle-avoidance-challenge03_state_localize.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (robot-state.any-back-button-pressed-short-and-released)   //
{
  
transition-to-state(stand-still);
}
else if (time-of-state-execution > 5000)   // waited too long, turn!
{
  
transition-to-state(turn);
}
else if (robot-pose.position-standard-deviation > 350)   // not localized
{
  
transition-to-state(localize);
}
else
{
  
transition-to-state(move-to-other-half-and-avoid-obstacles);
}

State turn

If that state is active,
 >  The basic behavior walk is executed. Parameters:
 
    walk.type  =  walk-type.normal ;
    walk.speed-x  =  0 ;
    walk.speed-y  =  0 ;
    walk.rotation-speed  =  45 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.directed-scan-for-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_obstacle-avoidance-challenge03_state_turn.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (robot-state.any-back-button-pressed-short-and-released)   //
{
  
transition-to-state(stand-still);
}
else if (time-of-state-execution > 3000)   // the robot turned for 180 degrees
{
  
transition-to-state(localize);
}
else
{
  
transition-to-state(turn);
}

State move-to-other-half-and-avoid-obstacles

If that state is active,
 >  The basic behavior go-to-point-and-avoid-obstacles is executed. Parameters:
 
    go-to-point-and-avoid-obstacles.x  =  2300 ;
    go-to-point-and-avoid-obstacles.y  =  0 ;
    go-to-point-and-avoid-obstacles.max-speed  =  600 ;
    go-to-point-and-avoid-obstacles.avoidance-level  =  0 ;
 
 >  These output symbols are set:
 
    head-control-mode  =  head-control-mode.directed-scan-for-obstacles
 
The decision tree:
  This browser can't display the SVG file svg/option_obstacle-avoidance-challenge03_state_move-to-other-half-and-avoid-obstacles.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (robot-state.any-back-button-pressed-short-and-released)   //
{
  
transition-to-state(stand-still);
}
else if (robot-pose.position-standard-deviation > 700)   //
{
  
transition-to-state(localize);
}
else
{
  
transition-to-state(move-to-other-half-and-avoid-obstacles);
}