As explained in object identification and prediction on shape, the ball is lower in height compared to the other objects on the stadium. We can approach this task in two ways:
- We know that the balls are present in a predefined location. Hence we can provide this information to the robot and the robot moves to the location and kicks the ball. This approach has many drawbacks mainly because after kicked once, there is no possibility of another chance to find the ball unless the ball lands on the exact spot again, the probability of which is very low. Moreover, with the opponent also pushing balls towards our side, we lose the opportunity to make more points
- The second approach is through scanning. This is more efficient because we can go around the stadium and if and once a ball (identified through its height) is identified, it kicks it through the differential steering explained in the physical design page. This method also has drawbacks though , for example, if the ball is placed too close to an obstacle, the robot can be misled.
SHARINGAN 