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Added figures to perception and overview

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Pavel Lutskov
2018-08-08 12:09:12 +02:00
parent 801ac12cc7
commit 81f2db1b9d
9 changed files with 79 additions and 30 deletions
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documentation/overview.tex
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@@ -1,18 +1,24 @@
\section{Strategy Overview}
\begin{figure}[ht]
\includegraphics[width=\textwidth]{\fig striker-flowchart}
\caption{Overview of the goal scoring strategy}
\label{p figure strategy-overview}
\end{figure}
Now that all of the milestones are completed, we will present a short overview
of the whole goal scoring strategy, the block diagram of which can be found in
\todo{learn to do figures and reference them}. At the very beginning the robot
will detect the ball and turn to ball, as described in \todo{where}. After
that, the distance to the ball will be calculated, the goal will be detected,
and the direction to goal will be determined. If the ball is far away
\textit{and} the ball and the goal are strongly misaligned, then the robot will
try to approach the ball from the appropriate side, otherwise the robot will
approach the ball directly. These approach steps will be repeated until the
robot is close enough to the ball to start aligning to the goal, but in the
practice one step of approach from the side followed by a short direct approach
should suffice. When the ball is close, the robot will check if it is between
the goalposts, and will perform necessary adjustments if that's not the case.
After the ball and the goal are aligned, the robot will align its foot with
the ball and kick the ball. For now, we assumed that the ball will reach the
goal and so the robot can finish execution.
the figure \ref{p figure strategy-overview}. At the very beginning the robot
will detect the ball and turn to ball, as described in the section \ref{j sec
turning to ball}. After that, the distance to the ball will be calculated,
the goal will be detected, and the direction to goal will be determined. If the
ball is far away \textit{and} the ball and the goal are strongly misaligned,
then the robot will try to approach the ball from the appropriate side,
otherwise the robot will approach the ball directly. These approach steps will
be repeated until the robot is close enough to the ball to start aligning to
the goal, but in the practice one step of approach from the side followed by a
short direct approach should suffice. When the ball is close, the robot will
check if it is between the goalposts, and will perform necessary adjustments if
that's not the case. After the ball and the goal are aligned, the robot will
align its foot with the ball and kick the ball. For now, we assumed that the
ball will reach the goal and so the robot can finish execution.