Maze identification

This is starting to get really overfitted, but since there are only 6 maps in the current state of the competition, we can use the information previously gathered from the vision and distance sensors to make our initially blank mapping data a lot more colourful! There is no limit on starting positions but most only have 4..



In the case that there aren't maps (later competitions) then I am currently investigating whether going to the center of the most unexplored area is more efficient than going to the nearest unexplored square.

Maps:

Wall Vision

The distance sensing by vision idea turned out to be awesome. We can get various ammounts of information and it is outlined in the figure below. I measured distances upto 5 squares away from the wall.
Process:
1) first took a vertical scanline from the centre; this determines how far away the wall is from the target and how much other info we can determine (otherwise the wall will block it out)
2) then there are two walls adjacent to the one directly ahead we can always get some info about. if they have a closer height than the main then we have walls on the sides coming up, if they are same then they are on the same distance as before, and if they are less then there is an opening.
3) at the furthest distances there is upto 5 bits of information instead of 3, this is a little small but you can still read some data from it, and do the same as in 2 to determine more positions.
ie. the blue arrows on the pic below demonstrate how 2/3 can show if there is an gap, a side wall, or the wall at the same level as infront.