Heatmap decay in FoV #1977
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Heatmap decay in FoV #1977
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…ne (does not work yes)
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Why? What?
Implementing a decay of heatmap tiles if a robot is looking in its direction. This decay is scaled by the distance from the robot to the center of the tile (changeable with
decay_distance_factor).In addition a kind of hysteresis is added. A robot decides to investigate a tile with the maximal heat and will do so until the heat of this tile has decreased to
tile_target_heat_threshold_factorpercent.Fixes #1288
ToDo / Known Issues
Parameter tuning based on a real game.
Ideas for Next Iterations (Not This PR)
This approach don't take in account, if the view of the robot is blocked by an obstacle.
A better approach would be to project the tiles in the camera view and check for the color of the segment or to use something like a particle filter.
How to Test
To test the decay of the heatmap you can run the ball_search-scenario. Use the map-overlay for the ball_search_heatmap and observe the robot looking in both corners.