26 lines
1.4 KiB
TeX
26 lines
1.4 KiB
TeX
\section{Strategy Overview}
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\label{p sec overview}
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\begin{figure}
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\includegraphics[width=\textwidth]{\fig striker-flowchart}
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\caption{Overview of the goal scoring strategy}
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\label{p figure strategy-overview}
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\end{figure}
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Now that all of the milestones are completed, we will present a short overview
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of the whole goal scoring strategy, the block diagram of which can be found in
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the figure \ref{p figure strategy-overview}. At the very beginning the robot
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will detect the ball and turn to ball, as described in the section \ref{j sec
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turning to ball}. After that, the distance to the ball will be calculated,
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the goal will be detected, and the direction to goal will be determined. If the
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ball is far away \textit{and} the ball and the goal are strongly misaligned,
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then the robot will try to approach the ball from the appropriate side,
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otherwise the robot will approach the ball directly. These approach steps will
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be repeated until the robot is close enough to the ball to start aligning to
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the goal, but in the practice one step of approach from the side followed by a
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short direct approach should suffice. When the ball is close, the robot will
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check if it is between the goalposts, and will perform necessary adjustments if
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that's not the case. After the ball and the goal are aligned, the robot will
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align its foot with the ball and kick the ball. For now, we assumed that the
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ball will reach the goal and so the robot can finish execution.
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