This is an implementation of a SLAM target searching algorithm.
The algorithm is based on bayas probabillity formulas. It has 2 Options of running:
- static agent
- dynamiv agent
The static agent scans for targets while remaining in starting position. The dynamic agent scans for targets while moving in space, towords probability COG, one step in each iteration.
Params for running the algorithm:
algo_args = dict(agent_location=(0, 0), # Agent's starting coordinate
alpha=0.5, # Rate of false alarms
init_prob_value=0.5, probability starting value
p_ta=1.0, # True alarm probability
probability_to_match=0.95, # Indicator for a success in finding the targets
size=20, # Size of the board, assuming board is symetrical
sensor_info=10, # Factor unit for the sensor and env
targets_locations=[(0, 9), (4, 14), (15, 8)]) # Targets positions