Once the obstacle detected is avoided, the steering agent informs the obstacle detection agent that the obstacle is avoided and the navigation agent directs the steering agent to continue to follow a straight path.
The steering agent subscribes to the velocity commands from the obstacle detection agent.
Obtaining a video stream, detecting obstacles and computing time-to-contact are the actions performed by the obstacle detection agent.
The obstacle detection agent is a non-collaborative agent that offers services to achieve one sub-goal, obstacle detection.
The obstacle detection agent, upon initiation, starts the actions for video service and obstacle detection service and publishes the control velocity for the robot.
For example, the method to compute time-to-contact can be replaced without affecting other actions of the obstacle detection agent or the structure of the framework.
This mission helps to study the performance of the obstacle detection agent and the collaboration between the steering agent and obstacle avoidance agents.
Let Str AGT and Det:AGT represent the steering agent and the obstacle detection agent; PS ROS and topic:ROS denote the parameter server and rostopic, while Detc SRV, Video:SRV and TTC:SRV denote the obstacle detection service, video stream service and time-to-contact service, respectively.
