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Page 156· Applied Robotics with the SumoBot
motion and the opponent collides with it at that moment, it will be at a disadvantage. If
the SumoBots are already pushing each other and one of them does this maneuver, it will
also give its opponent an opportunity to push it closer to the white tawara line.
Figure 4-5
Nearby Opponent
Seen by only one IR
object detector
Other approaches include pivoting on one wheel and curving while continuing forward.
Pivoting on one wheel has similar drawbacks to rotating in place. Drawing a curve has
some advantages over an opponent that's very close. The curve keeps the SumoBot
moving toward its opponent as it lines up to start pushing. If the two SumoBots are
already pushing on each other, and the SumoBot happens to lose sight of its opponent
with one eye for a moment, it doesn't lose as much advantage correcting with a curve. In
some cases, it may even help.
Curving to see the opponent with both eyes has its own drawbacks though. For example,
if the opponent is still some distance off and traveling away from the one eye that
detected it, curving won't catch up with it. (See Figure 4-6.)