PosEstimator

Grid Method

Grid method estimates players position as follows:

  1. Find a line and the nearest flag in the sensor information.
  2. Calculate hdir from the line information.
  3. Define a fan-shape area of the possible position from the nearest flag.
  4. Divide the fan-shape area into grids by a small unit.
  5. For each flag in the sensor information, check each grid point can be valid as a player's position from which the sensor information can be gotten. If a grid point is possible, then it gets a point into its score.
  6. Search maximum score and a set of points whose score is equal to the maximum. Then, calculate the center point of the set.
  7. Calculate the confident value of the position based on the size of the possible grid area.

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