Start |
Forward |
Receive start signal from joystick or control
interface |
Forward |
AvoidEquip |
Sensitive equipment detected in the
trajectory |
Forward |
AvoidHuman |
Human detected in the trajectory |
Forward |
AvoidPlant |
Plant occlusion detected in the
trajectory |
Forward |
Stop |
Obstacle detected in close proximity; all trajectories
are blocked |
Forward |
Swerve |
Current trajectory is blocked, not all trajectories
are blocked |
Forward |
TaskExecution |
Task execution required within the distance
range |
Forward |
MissionAccomp |
Goal position within the distance
range |
Stop |
Forward |
Obstacle removed or clear path detected |
Swerve |
Forward |
Drive parallel to the center |
Swerve |
Follow |
All trajectories are blocked |
Follow |
Forward |
Not all trajectories are blocked |
TaskExecution |
Forward |
Task completed |
Any state |
EmergencyStop |
Receive emergency stop signal |
EmergencyStop |
Forward |
No emergency stop signal |