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jonas
2018-08-09 08:37:09 +02:00
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documentation/jonas.tex
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@@ -72,7 +72,7 @@ start the \textbf{Turn to Ball algorithm} again.
%Follow the ball always -> problem: movement while walking %Follow the ball always -> problem: movement while walking
%Describe in more Detail??? Are all steps in can not see the ball executed every time? %Describe in more Detail??? Are all steps in can not see the ball executed every time?
%Mention stand up %Mention stand up
\newpage
\section{Distance Measurement} \section{Distance Measurement}
\label{j sec 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 the robot is brought to a defined stand-up posture, to ensure that the
distance calculations are accurate. The current camera frame is then distance calculations are accurate. The current camera frame is then
used to estimate the angle $\Phi_{\mathrm{meas}}$ between the position of the 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 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 considered in the calculations. As seen in figure \ref{j figure distance
measurement} $ \Phi_{\mathrm{ball}} $ and $ measurement} $ \Phi_{\mathrm{ball}} $ and $
\Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} $ are alternate interior angles \Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} $ are alternate interior angles.
therefore the following equations holds: Therefore, the following equations holds:
\begin{equation} \begin{equation}
\Phi_{\mathrm{ball}} = \Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} \; . \Phi_{\mathrm{ball}} = \Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} \; .
@@ -143,7 +143,7 @@ approach path.
\end{figure} \end{figure}
The task is solved as following. At the beginning the robot is in the standing 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 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 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 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} \label{j figure choose-approach}
\end{figure} \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 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 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 somewhere from the left side. In the current implementation there are three
possible approach directions. The robot could approach the ball either from the 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 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 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 planning, it's enough for now to decide between those three possible
approach directions. 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 possible scenarios. As the goal detection algorithm works quite reliable, the
appropriate approach direction was found quickly most of the time. appropriate approach direction was found quickly most of the time.
\newpage
As the approach direction is now known, the approach angle and the walking 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 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 %bdist is hypo and walking distance is hypo
The task is solved as following. Again the robot is in the standing position 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 distance has already been estimated as described in section \ref{j sec distance
measurement}. To estimate the approach angle and the walking distance, a 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 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 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 the ball is below or equal to a specified threshold the triangle looks as shown
in figure \ref{j figure rdist hypo}. in figure \ref{j figure rdist hypo}.
@@ -240,19 +239,26 @@ looks like in figure \ref{j figure bdist hypo}.
\end{figure} \end{figure}
To calculate the appropriate walking distance, the following formulas estimate 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} \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} \end{equation}
\begin{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} \end{equation}
If the distance between the robot and the ball is really small, the robot 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.
starts a direct approach to the ball regardless of the position of the goal. This makes more sense for sufficiently short distances, than the two approaches stated
This makes more sense for short distances, than the two approaches stated above. In this case the necessary actions for goal alignment will happen in a
above. In this case the neccessary actions for goal alignment will happen in a
dedicated goal alignment stage, described in the section \ref{p sec goal dedicated goal alignment stage, described in the section \ref{p sec goal
align}. align}.