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Mission planner - Coggle Diagram
Mission planner
inputs
List of possible achievable points for the robot (waypoints)
List of points with achievable points from that point location
Missions
Current location
WMS comands in terms of MACRO locations to achieve
Tasks inside
Does validation of resuming the mission after interupts
Does goal reached validations
Calculation of safest global path
FIFO machanism when taking goals from WMS/CCU
continous own diagnostics
Has to dynamically plan for tasks
Can plan for any MACRO to any MACRO navigation
Given 4 pick up location based on call stations, CCU like thing should tell the pick up location called and mission planner should be able to plan for the next location from any current Macro location
Should be working over macro locations, HOME, PICK1, PICK2, DROP1, DROP2, CHARGER etc. Having a mission definition of HOME TO PICKK1(pick behavior) TO DROP1(drop behaviour).
Will take input of all possible target locations thought earlier and use MACRO definitons to figure out what point next to reach for landing on the MACRO location.
Goals sent from mission planner should be behaviour based for the controller
Attachment behaviors described in between Tuple of points
Charging behaviors
Any other behavior
Outputs
Gives one point to reach to the controller time stamped
Status