World Modeling

Purpose

The world modeling module processes that data from the vision system to provide filtering and prediction for the rest of the system. The world model will effectively decouple the vision system from the rest of the system by allowing any process that needs world data (robot and ball position and velocity) to get a predicted value at any time.

Robot Components

Each robot will be tracked with its

• Shell ID
• Position (X, Y)
• Angle (degrees)
• Buffered States - maintain a circular buffer of previous corrected states. This will be used to calculate velocity and acceleration.
• Current Velocity