From f322beed81d34e95d077b6ea98b3c4bd29863bf9 Mon Sep 17 00:00:00 2001 From: jonas Date: Thu, 9 Aug 2018 08:37:09 +0200 Subject: [PATCH] spell checking --- documentation/jonas.tex | 46 +++++++++++++++++++++++------------------ 1 file changed, 26 insertions(+), 20 deletions(-) diff --git a/documentation/jonas.tex b/documentation/jonas.tex index 2c21c48..db27f43 100644 --- a/documentation/jonas.tex +++ b/documentation/jonas.tex @@ -72,7 +72,7 @@ start the \textbf{Turn to Ball algorithm} again. %Follow the ball always -> problem: movement while walking %Describe in more Detail??? Are all steps in can not see the ball executed every time? %Mention stand up - +\newpage \section{Distance Measurement} \label{j sec distance measurement} @@ -97,13 +97,13 @@ The distance measurement will now be described. At first, the robot is brought to a defined stand-up posture, to ensure that the distance calculations are accurate. The current camera frame is then used to estimate the angle $\Phi_{\mathrm{meas}}$ between the position of the -ball and the center of the camera frame. In the stand-up position, the top +ball and the centre of the camera frame. In the stand-up position, the top camera of the robot is not aligned with the parallel to the floor. There is -therefore an offset angle for the center of the camera frame, which has to be +therefore an offset angle for the centre of the camera frame, which has to be considered in the calculations. As seen in figure \ref{j figure distance measurement} $ \Phi_{\mathrm{ball}} $ and $ -\Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} $ are alternate interior angles -therefore the following equations holds: +\Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} $ are alternate interior angles. +Therefore, the following equations holds: \begin{equation} \Phi_{\mathrm{ball}} = \Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} \; . @@ -143,7 +143,7 @@ approach path. \end{figure} The task is solved as following. At the beginning the robot is in the standing -position and the ball is in the center of the camera view. As the position of +position and the ball is in the centre of the camera view. As the position of the ball is therefore known, it is important to find out, where the goal is to determine an appropriate approach path. The robot will therefore rotate its head, until it is able to recognize the goal in the view of its top camera @@ -155,14 +155,14 @@ head, until it is able to recognize the goal in the view of its top camera \label{j figure choose-approach} \end{figure} -Using the position of the center of the goal, the angle between the ball and +Using the position of the centre of the goal, the angle between the ball and the goal is estimated. Depending on the value of the angle, different approach -directions are chosen. In the figure \ref{j figure choose-approach}, the goal +directions are chosen. In figure \ref{j figure choose-approach}, the goal is on the right side of the ball. It therefore makes sense to approach the ball somewhere from the left side. In the current implementation there are three possible approach directions. The robot could approach the ball either from the left or the right side; or if the angle between the goal and the ball is -sufficiently small, the robot could also do a straight approach to the ball. As +sufficiently small or the distance between the ball and the robot is sufficiently small, the robot could also do a straight approach to the ball. As the exact approach angle to the ball is calculated in the next part of the approach planning, it's enough for now to decide between those three possible approach directions. @@ -171,7 +171,6 @@ The proposed algorithm worked fine under the consideration of the possible scenarios. As the goal detection algorithm works quite reliable, the appropriate approach direction was found quickly most of the time. -\newpage As the approach direction is now known, the approach angle and the walking distance of the robot have to be estimated. The task is to find an approach @@ -188,12 +187,12 @@ for a later kick. %bdist is hypo and walking distance is hypo The task is solved as following. Again the robot is in the standing position -and the ball is centered in the camera view of the top camera. The ball +and the ball is centred in the camera view of the top camera. The ball distance has already been estimated as described in section \ref{j sec distance measurement}. To estimate the approach angle and the walking distance, a -desired distance is defined which defines the distance between the robot and +desired distance is set which defines the distance between the robot and the ball after the walk. Approach angle and walking distance can then be -computed. Thereby we considered two different approaches depending on the +computed. Thereby we considered three different approaches depending on the distance between the ball and the robot. If the distance between the robot and the ball is below or equal to a specified threshold the triangle looks as shown in figure \ref{j figure rdist hypo}. @@ -240,19 +239,26 @@ looks like in figure \ref{j figure bdist hypo}. \end{figure} To calculate the appropriate walking distance, the following formulas estimate -the approaching angle and calculate the distance. +the approaching angle and calculate the walking distance, depending on the distance to the ball. \begin{equation} -\Theta_\mathrm{appr}=\arctan\left(\frac{\mathrm{Desired\ distance}}{\mathrm{ball\ distance}} \right) \; \; \mathrm{or} \; \; \arcsin\left(\frac{\mathrm{Desired\ distance}}{\mathrm{ball\ distance}}\right) +\Theta_\mathrm{appr} = +\begin{cases} +\arctan\left(\frac{\mathrm{Desired\ distance}}{\mathrm{ball\ distance}} \right) & \text{for short distances}\\ +\arcsin\left(\frac{\mathrm{Desired\ distance}}{\mathrm{ball\ distance}}\right) & \text{for long distances} +\end{cases} \end{equation} \begin{equation} - \mathrm{walking\ distance}=\frac{\mathrm{ball\ distance}}{\cos(\Theta_\mathrm{appr})} \; \; \mathrm{or} \; \; \frac{\cos(\Theta_\mathrm{appr})}{\mathrm{ball\ distance}} +\mathrm{walking\ distance} = +\begin{cases} +\frac{\mathrm{ball\ distance}}{\cos(\Theta_\mathrm{appr})} & \text{for short distances}\\ +\cos(\Theta_\mathrm{appr}) \cdot \mathrm{ball\ distance} & \text{for long distances} +\end{cases} \end{equation} -If the distance between the robot and the ball is really small, the robot -starts a direct approach to the ball regardless of the position of the goal. -This makes more sense for short distances, than the two approaches stated -above. In this case the neccessary actions for goal alignment will happen in a +As already mentioned, the robot starts a direct approach to the ball regardless of the position of the goal if the distance between the robot and the ball is really small. +This makes more sense for sufficiently short distances, than the two approaches stated +above. In this case the necessary actions for goal alignment will happen in a dedicated goal alignment stage, described in the section \ref{p sec goal align}.