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.