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Pitt-RAS / sumo_revamp

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Default Run Pattern #4

Open bcontino opened 8 years ago

bcontino commented 8 years ago

Choose angle turn to optimize prox sensors visual field

QuentinTorg commented 8 years ago

the search pattern is the pattern our robot would drive when it sees no other robot. The thinking as of now is that it should be moving as quickly as possible so that it can avoid being tracked by slower robots, and also get the other robot into view as soon as possible

Last year we did a star shaped pattern of slowly sweeping turns in alternating directions every time we hit the far side of the ring. We didn't have much control over the radius or shape because we had no speed control. Now we have encoders and a better idea of our displacement, so we could potentially control this better and more intelligently choose sweeping angles, or even an entirely new pattern

The plan as of now is to set the average speed of the robot to the maximum speed that allows us to stop in time at the edge of the turn. Then we can increase the velocity of one side and decrease the velocity of the other in equal amounts so the centerline velocity stays the same. The velocity offset will determine the radius of curvature