Sentry Pathfinding

[HeroOfWind243]

For the purposes of this project, presume that the Localization team has created a method we can use to track the Sentry's location.

Armed with this information, the Sentry robot needs to be able to move around the field from point to point autonomously without crashing into walls and preferably no other robots.

Step one of this whole endeavor is to create a pathfinding algorithm, a way for the Sentry to generate a series of points it should drive to to navigate around obstacles. This could look like bounding boxes for danger zones, a node-based web of pathways, or something else, the specific method needs to be decided upon. The main goal is the pathing needs to be lightweight and flexible enough that adjustments for different battlefields can be applied.

After that, actual implementation of the pathing scheme should be written as an informant, and a Sentry drive command created to respond to data from said informant. Further pathing features can be added as we get along in development.

Use branch feature/pathfinding for this task

Todos:

• Research/Brainstorm different pathing methods, discuss pros and cons.
• Decide on a method in writing (use Discord) and begin implementation

[tylerhedge]

Focusing on global pathfinding first. Can use Djikstra or A* but because the graph is small I'm going to try and implement Djikstra because I have done it before. As an addendum this this algorithm would be neat to try and implement.

[tylerhedge]

Other methods may be better because the battlefield is continuous, but just going to make a whole bunch of nodes for now because it meets the MVP. going to use distance for edge weights