VeeTags Maze

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The VeeTags maze is a simple environment consisting of two walls forming a vee, with three AprilTag markers on each wall. The walls are 1000 mm long and the angle between them is 120 degrees.

File:VeeTags.png

The walls can be posterboard, cardboard, or (recommended) Plasticor. See the article on Maze Construction for more advice about materials.

The centers of the AprilTags must be exactly 7 inches (177.8 mm) above the floor. The exact size of the tags doesn't matter, but 4-by-4 inches works well.

See the AprilTags article for instructions on how to print the tags at any desired size.

There is a VeeTags world in Mirage with the maze constructed as described here. It can be found in /usr/local/Tekkotsu/tools/mirage/worlds/VeeTags.mirage

There is a VeeTags demo with the maze walls and AprilTags set up in the world map. To run this demo from the ControllerGUI, go to Root Control > Framework Demos > Navigation Demos > VeeTags.

Maze Layout

  • Each maze wall is 1 meter long
  • The walls meet at a 120 degree angle
  • All tag centers are 6 inches (152.4 mm) above the ground
  • The AprilTags from left to right are:
    • Tags 0, 1, and 2 on the left wall
    • Tags 3, 4, and 5 on the right wall
  • Tag 2's center is 12 inches in from the right edge of the left wall
  • Tag 3's center is 12 inches in from the left edge of the right wall
  • The remaining tags on a wall are spaced 8 inches apart, center-to-center
  • Tag size doesn't matter, but in the Mirage world the tags are 6x6 inches
  • The robot starts at (0,0) facing north.