00000000000000000000


 x

Robot 1 Location: 5


Robot 2 Location' 117


 Y

115


Solve I Exit


 Figure 2.5: Preliminary implementation of the line-of-sight algorithm















 Figure 2.6: The shadow area is the grey area behind the obstacle.

 Initial Shadow Area Calculation

 Determining the shadow areas posed a difficult problem because the area behind an

obstacle is being calculated. The first issue was trying to formulate the area to be

calculated (see figure 2.6). The polygon triangulation method would add complexity to

the problem because a polygon would first have to be created using projected lines and

the boundary of the map. In contrast, the grid method allows for easy area calculation.