pavel/kick-it
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added sentence for small distances

Browse Source
This commit is contained in:
jonas
2018-08-08 15:57:53 +02:00
parent 8fc27df263
commit f77b82c479
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
documentation/jonas.tex
View File

@@ -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 %Mention Stand up to ensure, that robot is always in the same position
%Explain how angles are derived from the camera frames? %Explain how angles are derived from the camera frames?
%Value of phi cam? %Value of phi cam?
\newpage
\section{Approach planning} \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. 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. 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}} \mathrm{walking\ distance}=\frac{\mathrm{ball\ distance}}{\cos(\Theta_\mathrm{appr})} \; \; \mathrm{or} \; \; \frac{\cos(\Theta_\mathrm{appr})}{\mathrm{ball\ distance}}
\end{equation} \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.