Andy's Arc Voting

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 [AndyB] and will be expanded uppon sooner or later