Grid Method
Grid MethodGrid method estimates players position as follows:
- Find a line and the nearest flag in the sensor information.
- Calculate hdir from the line information.
- Define a fan-shape area of the possible position from the nearest flag.
- Divide the fan-shape area into grids by a small unit.
- 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.
- Search maximum score and a set of points whose score is equal to the maximum. Then, calculate the center point of the set.
- Calculate the confident value of the position based on the size of the possible grid area.
Suppose:
Some equations useful for estimate position.
- 1 degree
- Range of distance before round
- Range of distance before quantization
- some values
The size of range in an actual values:
- in the case
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- in the case
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