From f77b82c479f49e7696c573e69631c19cb6b5bd7b Mon Sep 17 00:00:00 2001 From: jonas Date: Wed, 8 Aug 2018 15:57:53 +0200 Subject: [PATCH] added sentence for small distances --- documentation/jonas.tex | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/documentation/jonas.tex b/documentation/jonas.tex index b91a1be..98c3276 100644 --- a/documentation/jonas.tex +++ b/documentation/jonas.tex @@ -60,7 +60,7 @@ Even so the proposed equation for distance measurement is rather simple it provi %Mention Stand up to ensure, that robot is always in the same position %Explain how angles are derived from the camera frames? %Value of phi cam? - +\newpage \section{Approach planning} An important part of the approaching strategy is to find out, in which direction the robot should start to approach the ball, so that it is later in a good position for the following approach steps. The task is therefore to choose an appropriate approach path. @@ -147,4 +147,5 @@ To calculate the appropriate walking distance, the following formulas estimate t \mathrm{walking\ distance}=\frac{\mathrm{ball\ distance}}{\cos(\Theta_\mathrm{appr})} \; \; \mathrm{or} \; \; \frac{\cos(\Theta_\mathrm{appr})}{\mathrm{ball\ distance}} \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. \ No newline at end of file