planner.avclPlan

Class SearchPlanner

java.lang.Object

planner.avclPlan.GoalPlanner

planner.avclPlan.SearchPlanner

All Implemented Interfaces:

Runnable

public class SearchPlanner
extends GoalPlanner

Planner utilized to generate a script capable of accomplishing a Search goal in an AVCL declarative mission Upper Level State Machine of the Search Planner: +------------------------TRANSIT_AND_ALERT <---- start, alert = true | alertEnded | | | Execute | | | V | targetFound = true +--> EXECUTE_SEARCH <---- start, alert = false | reportStatusChange | | ^ | | | = false +----+ | | +----------------------------+ | | | targetFound | | reportMade | | reportStatusChange = true | | singleTarget = false | V | | REPORT_FOUND | | | | | | reportMade, singleTarget = true | | | | | V targetFound | +---------------------------> COMPLETE <-----------------------------+ reportStatusChange = false

Author:

dtdavis

Nested Class Summary

Nested classes/interfaces inherited from class planner.avclPlan.GoalPlanner

GoalPlanner.PartnerList, GoalPlanner.PartnerRecord

Field Summary

Fields

Modifier and Type	Field and Description
static int	CONTINUE_SEARCH Continue search pattern
static int	EXECUTE_SEARCH Conduct search once established in operating area
static int	QUIT_SEARCH Sole target located, search complete (no reporting required)
static int	REPORT_AND_CONTINUE Target located (report required), search to continue
static int	REPORT_AND_QUIT Sole target located (report required)
static int	TRANSIT_AND_ALERT Transiting to area to wait until directed to begin search

Fields inherited from class planner.avclPlan.GoalPlanner

alert, ATTACK_GOAL, avoidAreaSet, currentState, DECISION_CURRENT, DECISION_ONFAILURE, DECISION_ONSUCCESS, DECONTAMINATE_GOAL, DEMOLISH_GOAL, duration, firstGoal, GOAL_FAIL, GOAL_IN_PROGRESS, GOAL_SUCCEED, goalAttainable, goalVertical, goalVerticalMode, ILLUMINATE_GOAL, interVehicleCommunicationsHandler, JAM_GOAL, MARK_GOAL, MONITOR_TRANSMISSION_GOAL, onStation, operatingArea, PATROL_GOAL, planComputed, ready, RENDEZVOUS_GOAL, reportEnd, reportingInterval, reportPeriodic, reportStart, reportStatusChange, REPOSITION_GOAL, SAMPLE_ENVIRONMENT_GOAL, SEARCH_GOAL, searchPlannerType, startTime, stateChanged, STATUS_DESC_LAST_ENDED, STATUS_EXECUTION_BEGIN, STATUS_EXECUTION_FAIL, STATUS_EXECUTION_SUCCEED, STATUS_STATUS_COMPLETE, STATUS_SYSTEM_MISSION, stopTime, teamPartnerList, timeOut, vehicleCharacteristics, vehicleID, worldModel

Constructor Summary

Constructors

Constructor and Description
SearchPlanner(int vehicleID, StateVector state, VehicleCharacteristics vehicleCharacteristics, AgendaGoalElementType goal, int srchPlannerType) Creates a new instance of SearchPlanner
SearchPlanner(int vehicleID, StateVector state, VehicleCharacteristics vehicleCharacteristics, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, double startX, double startY, int srchPlannerType) Creates a new instance of SearchPlanner
SearchPlanner(int vehicleID, StateVector state, VehicleCharacteristics vehicleCharacteristics, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, int srchPlannerType) Creates a new instance of SearchPlanner
SearchPlanner(int vehicleID, VehicleCharacteristics vehicleCharacteristics, AgendaGoalElementType goal, int searchPlannerType) Creates a new instance of SearchPlanner
SearchPlanner(int vehicleID, VehicleCharacteristics vehicleCharacteristics, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, double startX, double startY, int srchPlannerType) Creates a new instance of SearchPlanner
SearchPlanner(int vehicleID, VehicleCharacteristics vehicleCharacteristics, AgendaGoalElementType goal, List<AreaElementType> avoidAreas, int srchPlannerType) Creates a new instance of SearchPlanner

Method Summary

Modifier and Type	Method and Description
static double	computePD(double S, double T) Compute the single-search probability of detection for a given sweep width and track spacing The method uses the formula PD = 1 / (1 + 0.25 * (1 / C)) where C is the coverage factor
List<JAXBElement<?>>	generateAvclScriptElementList(int vehicleType, double gpsInterval) Generates a set of AVCL Waypoints corresponding to the transit to the search area and the search pattern itself
List<JAXBElement<?>>	generateAvclScriptElementList(List<JAXBElement<?>> plan, int vehicleType, double gpsInterval) Generates a set of AVCL Waypoints corresponding to the transit to the search area and the search pattern itself
int	goalExecutionStatus() Determines the current status of goal execution (in progress, succeed, or fail
static void	main(String[] args) Main method for testing purposes only
void	planScript() Utilizes all available information to generate a script to accomplish the applicable goal
void	planScript(double startX, double startY) Utilizes all available information to generate a script to accomplish the applicable goal
void	reset() Resets the planner so that it can be restarted from scratch
protected void	sendRequiredComms() Sends any required inter-vehicle communications based on the current goal status
protected void	setParameters() Sets the goal parameters specific to searches based on a AVCL search goal
void	setPatternComplete() Sets the pattern complete flag
void	setRequiredPD(double value) Sets the required single-search probability of detection of the search
void	setStartPosition(double[] xy) Sets the vehicle position prior to commencing the search
void	setStartPosition(double x, double y) Sets the vehicle position prior to commencing the search
int	setState() Uses the current world state to set the state of a finite state machine that will determine how the plan is generated (e.g. search pattern, report and continue, etc.)
void	setTargetFound() Sets the target found flag
double	setTrackSpacing() Computes and sets the track spacing to achieve the desired 1-search probability of detection The method uses the formula PD = 1 / (1 + 0.25 * (1 / C)) where C is the coverage factor
void	vehicleInitialize(VehicleCharacteristics vehicleCharacteristics) Initializes the control parameters of the search (sweep width, required pd, etc.)

Methods inherited from class planner.avclPlan.GoalPlanner

assignVehicle, getAvoidAreas, getBestPosition, getCurrentTime, getDuration, getGoal, getPlannerType, getStartTime, getStopTime, getTimingType, getVehicleType, goalType, hasStateChanged, inOperatingArea, localExecutionLevel, makeLoiterCmd, makeMetaCmd, makePositionCmd, makeWaitCmd, makeWaitUntilTimeCmd, matchedWaypoints, planAvailable, planRouteElementList, recalculateGpsFixes, resetStateChanged, resetTiming, run, setAvoidAreas, setCommunicator, setFirst, setOffStation, setOnStation, setOperatingArea, setTeamMemberOnStation, setUnattainable, setWorldModel

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

TRANSIT_AND_ALERT

public static final int TRANSIT_AND_ALERT

Transiting to area to wait until directed to begin search

See Also:

Constant Field Values

EXECUTE_SEARCH

public static final int EXECUTE_SEARCH

Conduct search once established in operating area

See Also:

Constant Field Values

CONTINUE_SEARCH

public static final int CONTINUE_SEARCH

Continue search pattern

See Also:

Constant Field Values

QUIT_SEARCH

public static final int QUIT_SEARCH

Sole target located, search complete (no reporting required)

See Also:

Constant Field Values

REPORT_AND_CONTINUE

public static final int REPORT_AND_CONTINUE

Target located (report required), search to continue

See Also:

Constant Field Values

REPORT_AND_QUIT

public static final int REPORT_AND_QUIT

Sole target located (report required)

See Also:

Constant Field Values

Constructor Detail

SearchPlanner

public SearchPlanner(int vehicleID,
                     VehicleCharacteristics vehicleCharacteristics,
                     AgendaGoalElementType goal,
                     int searchPlannerType)

Creates a new instance of SearchPlanner

Parameters:

vehicleID -

vehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

searchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

SearchPlanner

public SearchPlanner(int vehicleID,
                     VehicleCharacteristics vehicleCharacteristics,
                     AgendaGoalElementType goal,
                     List<AreaElementType> avoidAreas,
                     int srchPlannerType)

Creates a new instance of SearchPlanner

Parameters:

vehicleID -

vehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

SearchPlanner

public SearchPlanner(int vehicleID,
                     VehicleCharacteristics vehicleCharacteristics,
                     AgendaGoalElementType goal,
                     List<AreaElementType> avoidAreas,
                     double startX,
                     double startY,
                     int srchPlannerType)

Creates a new instance of SearchPlanner

Parameters:

vehicleID -

vehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

startX - the x coordinate of the vehicle starting position

startY - the y coordinate of the vehicle starting position

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

SearchPlanner

public SearchPlanner(int vehicleID,
                     StateVector state,
                     VehicleCharacteristics vehicleCharacteristics,
                     AgendaGoalElementType goal,
                     int srchPlannerType)

Creates a new instance of SearchPlanner

Parameters:

vehicleID -

state -

vehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

SearchPlanner

public SearchPlanner(int vehicleID,
                     StateVector state,
                     VehicleCharacteristics vehicleCharacteristics,
                     AgendaGoalElementType goal,
                     List<AreaElementType> avoidAreas,
                     int srchPlannerType)

Creates a new instance of SearchPlanner

Parameters:

vehicleID -

state -

vehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

SearchPlanner

public SearchPlanner(int vehicleID,
                     StateVector state,
                     VehicleCharacteristics vehicleCharacteristics,
                     AgendaGoalElementType goal,
                     List<AreaElementType> avoidAreas,
                     double startX,
                     double startY,
                     int srchPlannerType)

Creates a new instance of SearchPlanner

Parameters:

vehicleID -

state -

vehicleCharacteristics - characteristics that define what goals the vehicle is capable of accomplishing

goal - AVCL (JAXB) object that defines the goal the planner is intended to accomplish

avoidAreas - list of AVCL objects defining avoid areas effecting transit to and from op area

startX - the x coordinate of the vehicle starting position

startY - the y coordinate of the vehicle starting position

srchPlannerType - enumeration for the type of search pattern that is to be generated if required (normally SearchPatternPlanner.DEFAULT except for testing)

Method Detail

reset

public void reset()

Resets the planner so that it can be restarted from scratch

Specified by:

reset in class GoalPlanner

setParameters

protected void setParameters()

Sets the goal parameters specific to searches based on a AVCL search goal

Specified by:

setParameters in class GoalPlanner

vehicleInitialize

public void vehicleInitialize(VehicleCharacteristics vehicleCharacteristics)

Initializes the control parameters of the search (sweep width, required pd, etc.) NOTE: The planner is not usable until this method has been called!

Overrides:

vehicleInitialize in class GoalPlanner

Parameters:

vehicleCharacteristics - vehicle characteristics to be utilized for the search

setTargetFound

public void setTargetFound()

Sets the target found flag

setPatternComplete

public void setPatternComplete()

Sets the pattern complete flag

setRequiredPD

public void setRequiredPD(double value)

Sets the required single-search probability of detection of the search

Parameters:

value - new required probability of detection

setTrackSpacing

public double setTrackSpacing()

Computes and sets the track spacing to achieve the desired 1-search probability of detection The method uses the formula PD = 1 / (1 + 0.25 * (1 / C)) where C is the coverage factor

Returns:

computePD

public static double computePD(double S,
                               double T)

Compute the single-search probability of detection for a given sweep width and track spacing The method uses the formula PD = 1 / (1 + 0.25 * (1 / C)) where C is the coverage factor

Parameters:

S - sweep width of the search as defined by NWP 3-22.5 (the SAR TACAID)

T - track spacing of the search

Returns:

setStartPosition

public void setStartPosition(double x,
                             double y)

Sets the vehicle position prior to commencing the search

Overrides:

setStartPosition in class GoalPlanner

Parameters:

x - X coordinate of the vehicle position

y - Y coordinate of the vehicle position

setStartPosition

public void setStartPosition(double[] xy)

Sets the vehicle position prior to commencing the search

Overrides:

setStartPosition in class GoalPlanner

Parameters:

xy - double[2] containing the (x, y) coordinates of the vehicle position

planScript

public void planScript(double startX,
                       double startY)

Utilizes all available information to generate a script to accomplish the applicable goal

Specified by:

planScript in class GoalPlanner

Parameters:

startX - X coordinate of the vehicle when starting work towards goal accomplishment

startY - Y coordinate of the vehicle when starting work towards goal accomplishment

planScript

public void planScript()

Utilizes all available information to generate a script to accomplish the applicable goal

Specified by:

planScript in class GoalPlanner

setState

public int setState()

Uses the current world state to set the state of a finite state machine that will determine how the plan is generated (e.g. search pattern, report and continue, etc.)

Specified by:

setState in class GoalPlanner

Returns:

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(List<JAXBElement<?>> plan,
                                                          int vehicleType,
                                                          double gpsInterval)

Generates a set of AVCL Waypoints corresponding to the transit to the search area and the search pattern itself

Parameters:

plan - ArrayList containing an existing plan to which the generated one will be appended

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

gpsInterval - number of waypoints between GPS fixes (only relevant for UUVs)

Returns:

ArrayList of AVCL script command objects (JAXB)

generateAvclScriptElementList

public List<JAXBElement<?>> generateAvclScriptElementList(int vehicleType,
                                                          double gpsInterval)

Generates a set of AVCL Waypoints corresponding to the transit to the search area and the search pattern itself

Specified by:

generateAvclScriptElementList in class GoalPlanner

Parameters:

vehicleType - enumeration for the type of vehicle (AUV, UAV, etc.)

gpsInterval - distance the vehicle can travel between GPS fixes (only relevant for UUVs)

Returns:

ArrayList of AVCL script command objects (JAXB)

goalExecutionStatus

public int goalExecutionStatus()

Determines the current status of goal execution (in progress, succeed, or fail

Specified by:

goalExecutionStatus in class GoalPlanner

Returns:

integer enumeration for current execution status: GOAL_IN_PROGRESS, GOAL_SUCCEED, or GOAL_FAIL

sendRequiredComms

protected void sendRequiredComms()

Sends any required inter-vehicle communications based on the current goal status

Specified by:

sendRequiredComms in class GoalPlanner

main

public static void main(String[] args)

Main method for testing purposes only

Parameters:

args -