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added sentence for small distances

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jonas
2018-08-08 15:57:53 +02:00
parent 8fc27df263
commit f77b82c479
1 changed files with 2 additions and 1 deletions
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documentation/jonas.tex
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@@ -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.