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Group 29

Mario Valentino & Christoffer Lundholm

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Path Planning & Path Tracking

  • A* for path planning
  • Pure Pursuit for path tracking

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  • Proportional navigation for killing enemies?

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Behavioural Trees

  • Ask a series of questions and perform the best action accordingly
    • Am I a ghost?
    • Am I scared?
    • …
  • Starting by following basic strategies
    • Heuristics based on Euclidean distance / path distance
  • …improve it iteratively
    • Voronoi to understand if it’s worth going towards some food?
    • Filtering the position of enemies to get rid of noise (Kalman Filters, Particle Filters)?
    • Find out exact position of enemies when food disappears?

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Progress Status Week 15

  • Comment to customer paying 250 000kr for the report:
    • “All is well. We have spent a bit more time than planned, and progress is as expected”
  • Planned Time spent: 30%
    • (Out of the combined 200h)
  • Actual Time spent: 25%
    • Out of the combined 200h
  • Actual Progress: 25%
    • (estimate progress towards completing assignment)
  • Risk of not completing assignment: 3%

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