https://github.com/yilinjuang/robocops

Praktikum Mobile Roboter 64-156, Wintersemester 2016/2017, University of Hamburg
https://github.com/yilinjuang/robocops

lasertag robotics ros turtlebot

Last synced: about 1 year ago
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Praktikum Mobile Roboter 64-156, Wintersemester 2016/2017, University of Hamburg

• Host: GitHub
• URL: https://github.com/yilinjuang/robocops
• Owner: yilinjuang
• Created: 2016-11-23T16:37:00.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2017-02-01T16:17:29.000Z (about 9 years ago)
• Last Synced: 2025-01-13T08:35:09.590Z (about 1 year ago)
• Topics: lasertag, robotics, ros, turtlebot
• Language: Python
• Homepage:
• Size: 67.4 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# 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.

![transformation](http://i.imgur.com/HCwK6HX.jpg)

### 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.