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grid changes only

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FrankE
2016-02-10 08:53:58 +01:00
parent bf41f5f97d
commit 4ee0e752a0
1 changed files with 6 additions and 3 deletions
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9
tex/chapters/grid.tex
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@@ -73,6 +73,7 @@
route calculation.
\subsection{wall avoidance}
\label{sec:wallAvoidance}
As already mentioned, shortest-path calculation usually sticks close to walls to reduce the path's length.
Pedestrian's however, walk either somewhere near (but not close to) a wall or, for larger hallways/rooms,
@@ -100,6 +101,7 @@
\subsection{door detection}
\label{sec:doorDetection}
Doors are usually anchored between two (thin) walls and have a normed width. Examining only a limited region
around the door, its surrounding walls describe a flat ellipse with the same center as the door itself. It is thus
@@ -210,9 +212,10 @@
\newcommand{\pathRef}{v_{\hat{x},\hat{y},\hat{z}}}
This center is used as starting-point for the shortest path. As it is not necessarily part of
the grid, its nearest-grid-neighbor is used instead.
The resulting node already knows its way to the pedestrian's destination, but is located somewhere
within the deviation of the sample set. After slightly advancing it by a fixed value of about \SI{5}{\meter}
the grid, its nearest-grid-neighbor is determined and used instead.
The resulting vertex already knows its way to the pedestrian's destination, but is located somewhere
within the sample-set. We thus calculate the standard deviation for the distance
of all states from the center. After advancing the starting-vertex by three times the deviation
we get a new point outside of the sample-set and closer to the desired destination.
This new reference node $\pathRef$ serves as a comparison base: