Quote:
Originally Posted by yash101
How do you suggest getting the exact position of other robots and field elements? Should I have a Kinect (or a couple), outputting the distance to all the field elements?
This gives me another question. What does the Kinect distance map look like? How do you get the distance measurement from a single pixel?
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You will not be able to know the exact positions of everything, and thankfully you do not need to. It's standard practice to go further around obstacles than strictly necessary to allow for inaccuracies. This would happen when you're deciding on the nodes to feed into A*, or whatever other algorithm you want to use.
For example:
If you use a Voronoi diagram, you'll get nodes that are maximally far from obstacles.
http://en.wikipedia.org/wiki/Voronoi_diagram
And before using a visibility graph, you'd typically expand all of the obstacles by some constant distance.
http://en.wikipedia.org/wiki/Visibility_graph
The Kinect's distance map is pretty simple: you get a 2-d array with a distance for every pixel.