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辽宁科技大学COD战队 / COD-2024简易雷达开源

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README
Apache-2.0

COD-2024简易雷达算法开源

!!!!我个人和COD并不提倡直接使用源码完成雷达站功能!!!!
!!!!可以在原有雷达站的基础上使用本思路对被场地遮挡区域进行标记!!!!
详细思路和展望可以查看@鲍天龙 上传的文档。RM_Radar思路和展望 by:鲍天龙

特别说明

  1. 由于资金的限制,我们使用这个方式实在是无奈之举,源码在赛前花费一晚时间完成,稳定性测试的较少,比赛效果无法保证。
  2. 希望这份开源更多是抛砖引玉, 在传统雷达站识别不到目标的情况,或者对于被场地遮挡视野的区域进行BFS。
  3. 由于来问的队伍实在太多,所以选择在东部赛区结束后马上进行开源,没有时间完善和优化,请选择性的阅读源码。

简述

  1. 本项目是基于RM2024规则框架下的无激光雷达,无相机的纯运算端雷达站开源。
  2. 思路:基于标点准确后裁判系统会有反馈这一规则,对机器人出现的高频区域进行广度搜索。
  3. 如果标点后在目标点半径范围1.6m存在目标机器人,裁判系统会判定为半准确,所以只用两个点就可以覆盖到哨兵巡逻区。同理可以覆盖到环高后的英雄快乐点和R3高地的狙击点中的英雄。同理可以覆盖到环高下和打符点的步兵。

运行效果

运行效果请看比赛视频 触发双倍增伤 东部雷达排名

安装

  1. 项目基于python3.8运行
  2. 需要安装pyserial依赖
  3. 使用USB转TTL模块插入运算端,在源码中修改对应COM口

功能/操作说明

  1. referee_info_update用于接受和更新裁判系统数据,其中referee.radar_mark_data为标记进度,referee.dart_info为云台手端飞镖瞄准目标,referee.count为可触发的双倍增伤次数。
  2. send_data用于发送雷达数据,请根据实际情况修改目标机器人ID和坐标,请注意发送频率上限为10hz。
  3. send_double用于触发双倍增伤,请根据红蓝方修改机器人ID。
  4. 有双倍易伤次数的情况下,云台手在比赛中利用客户端上的“切换飞镖瞄准目标”功能,即按下J键即可触发双倍易伤。

优化方向

  1. 基于传统雷达站,在传统雷达站识别不到目标的情况,或者对于被场地遮挡视野的区域进行BFS搜索。
  2. 使用BFS搜索目标,反馈进度增加后再使用DFS提高锁定精度。

官方制裁

  1. 调整0x20c的发送逻辑,在对方机器人被标记进度<100时发送0, 在对方机器人被标记进度≥100时发送1

Contact

qq:1296828054 杨涛

特别致谢

感谢 鲍天龙 同学提供项目思路
感谢 王柏程、赵欣 同学帮助完善项目
感谢 COD战队 每个同学的支持和帮助

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简介

本项目是基于RM2024规则框架下的无激光雷达,无相机的纯运算端雷达站开源。 展开 收起
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