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Lidar Pathfinding

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Chris Denniston edited this page Nov 17, 2015 · 1 revision

#The algorithm It is presented in this paper https://github.com/UMKCRobotics/2015-2016-AVC/blob/master/planning/LIDAR%20Avoidance.pdf

Instead of using a circle around the object it casts a differnet ray outward, simplifies the math.

We also add an optional function to the heuristic based on how far the wheels would have to turn to match the desired angle, which potentially fixes some minor issues in the fact that we're on the ground and can't turn instantly.

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