RRTstar with own occupancy map

I´m a beginner and i think there is an easy way to solve my problem, but I don´t find a solution.

I´m trying to generate my own occupancy map and run the RRTstar algorithm on it (2D). I use those two cites in the help center and want to connect both codes, Create an optimal RRT path planner (RRT*) - MATLAB - MathWorks Deutschland, Create occupancy grid with binary values - MATLAB - MathWorks Deutschland (Image to Binary Occupancy Grid Example). I can run my occupancy map, but when i want to connect it to the rrtstar code, its not possible, because this code needs an .mat map and not .png.

Do you have a solution? Is my aproach useful or is there an simpler way to model this?

Answer 1

[Sakshay]

Hello Michael,

As per my understanding, you want to use a Custom Occupancy Map with the RRT* Path Planning algorithm.

The Binary Occupancy Map that you are creating using the mentioned documentation can be directly used with the RRT* algorithm. An example code for the same would look like:

% Create Binary Occupancy Map
map = binaryOccupancyMap(10,10,10);

% Initialize Path Planning
ss = stateSpaceSE2;
sv = validatorOccupancyMap(ss);
sv.Map = map;
sv.ValidationDistance = 0.01;
ss.StateBounds = [map.XWorldLimits; map.YWorldLimits; [-pi pi]];

% Initialize Planner
planner = plannerRRTStar(ss,sv, ...
          ContinueAfterGoalReached=true, ...
          MaxIterations=2500, ...
          MaxConnectionDistance=0.3);

% Plan Path
start = [0.5 0.5 0];
goal = [2.5 0.2 0];
[pthObj,solnInfo] = plan(planner,start,goal);

For more information on Occupany Grids, you can refer to the following documentation:

Occupancy Grids - MATLAB & Simulink (mathworks.com)