23 lines
1.2 KiB
TeX
23 lines
1.2 KiB
TeX
\section{Ball Alignment}
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Now that the ball and the goal are aligned, the robot has to move into a
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position, from which the kick can be performed. Depending on the situation, it
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may be feasible to select the foot, with which the kick should be performed,
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but due to time constraints we programmed the robot to kick with the left foot
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only. So, the task now is to place the ball in front of the left foot. We
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realized, that when the ball is in the correct position, then its image in the
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lower camera should be within a certain region. We experimentally determined
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the extents of this region, which is schematically presented in figure \ref{p
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figure ball-alignment}. The algorithm therefore is for the robot to gradually
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adjust its position in small steps, until the ball image reaches the target,
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after which the robot will proceed with the kick. Our tests have shown, that
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this method while being relatively simple, works sufficiently robust, which
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means that we didn't have the situations, when the robot missed the ball after
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alignment or even hit the ball with an edge of the foot.
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\begin{figure}[ht]
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\includegraphics[width=\textwidth]{\fig ball-align}
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\caption{Ball alignment}
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\label{p figure ball-alignment}
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\end{figure}
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