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https://github.com/AtsushiSakai/PythonRobotics.git
synced 2026-01-12 01:58:19 -05:00
fc160179c0
* feat: add behavior tree * feat: add behavior tree test * feat: add behavior tree doc * feat: add behavior tree update
57 lines
3.0 KiB
XML
57 lines
3.0 KiB
XML
<Selector name="Robot Main Controller">
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<!-- Charge battery when power is low -->
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<Sequence name="Battery Management">
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<Inverter name="Low Battery Detection">
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<CheckBattery name="Check Battery" threshold="30" />
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</Inverter>
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<Echo name="Low Battery Warning" message="Battery level low! Charging needed" />
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<ChargeBattery name="Charge Battery" charge_rate="20" />
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</Sequence>
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<!-- Main task sequence -->
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<Sequence name="Patrol Task">
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<Echo name="Start Task" message="Starting patrol task" />
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<!-- Move to position A -->
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<Sequence name="Move to Position A">
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<MoveToPosition name="Move to A" position="A" move_duration="2" />
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<!-- Handle obstacles -->
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<Selector name="Obstacle Handling A">
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<Sequence name="Obstacle Present">
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<DetectObstacle name="Detect Obstacle" obstacle_probability="0.3" />
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<AvoidObstacle name="Avoid Obstacle" avoid_duration="1.5" />
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</Sequence>
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<Echo name="No Obstacle" message="Path clear" />
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</Selector>
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<PerformTask name="Position A Task" task_name="Check Device Status" task_duration="2" />
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</Sequence>
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<!-- Move to position B -->
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<Sequence name="Move to Position B">
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<Delay name="Short Wait" sec="1">
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<Echo name="Prepare Movement" message="Preparing to move to next position" />
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</Delay>
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<MoveToPosition name="Move to B" position="B" move_duration="3" />
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<!-- Handle obstacles with timeout -->
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<Timeout name="Limited Time Obstacle Handling" sec="2">
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<Sequence name="Obstacle Present">
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<DetectObstacle name="Detect Obstacle" obstacle_probability="0.4" />
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<AvoidObstacle name="Avoid Obstacle" avoid_duration="1.8" />
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</Sequence>
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</Timeout>
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<PerformTask name="Position B Task" task_name="Data Collection" task_duration="2.5" />
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</Sequence>
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<!-- Move to position C -->
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<WhileDoElse name="Conditional Move to C">
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<CheckBattery name="Check Sufficient Battery" threshold="50" />
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<Sequence name="Perform Position C Task">
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<MoveToPosition name="Move to C" position="C" move_duration="2.5" />
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<ForceSuccess name="Ensure Completion">
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<PerformTask name="Position C Task" task_name="Environment Monitoring"
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task_duration="2" />
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</ForceSuccess>
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</Sequence>
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<Echo name="Skip Position C" message="Insufficient power, skipping position C task" />
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</WhileDoElse>
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<Echo name="Complete Patrol" message="Patrol task completed, returning to charging station" />
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<MoveToPosition name="Return to Charging Station" position="Charging Station"
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move_duration="4" />
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</Sequence>
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</Selector> |