Andy's Arc Voting

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Generally, the stratagy is to:

  1. Create a virtual map of obsticles and detected lines
  2. Assign each obsticle (or area of terrain) a numerical value, the lowest being the most drivable (flat ground, no obsticles etc.) the highest being an obsticle (can also be done the other way around.
  3. Generate random arcs in the needed direction of travel
  4. Sum the values of the terrain for each arc
  5. Pick the lowest arc

Page is maintained by Andy and will be expanded uppon sooner or later.