RoboCops

Praktikum Mobile Roboter 64-156, Wintersemester 2016/2017

Strategies

Random Walk

• Different points on map.
• Choose the closest point from all the points which are not yet been visited.
• Move arround between points.

Optimize Shooting

1. Detect an AprilTag.
2. Calculate absolute Optimal Shooting Position (OSP) on map.
   • Transform the AprilTag position from camera coordinate to robot_base one.
   • Calculate the best position (z=1, x=0, ori=?) on robot_base coordinate.
   • Transform the best position from robot_base coordinate to camera one.
3. Move to this OSP.
4. The target might move. Just follow.

After Getting Shot

1. 5 seconds freezed
   • Scan surrounding for moving objects.
   • Transform laser scan data to map.
2. After 5 seconds
   • Move to optimal shooting position.

After Shooting (Hide & Attack)

1. Calculate the potential position (reachable in 5 secs) of the opponent robot and save it as area of interest (AOI).
2. Move backwards out of AOI.
3. Move forward and search the AOI to attach again.