Future Work
This semester was spent grasping the problem and laying the groundwork for the full realization of the pairing of the sensors. It definitely seems as though these sensors could very easily pair well, but it is going to take more sophisticated algorithms to realize their potential. The direction that I have identified involves using a heuristic known as A* or more specifically AD*. These heuristics take in an occupancy map which is essentially a blocked out mapping of your surroundings. Filled blocks represent obstacles which the heuristic assumes cannot be passed through. Then with the occupancy map as well as a start and end point the heuristic calculates a "cost" to move from any square to any other square. The challenge here is in implementing the creation of the occupancy maps and the logic of combining the two maps. Here are a few links to get you started: