To create a map for potential function motion planner in MATLAB, you can follow these steps:
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binaryOccupancyMap
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This will create a binary occupancy grid map with mapSizeX
by mapSizeY
size and mapResolution
cell size.
setOccupancy
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This will add two rectangular obstacles to the map.
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This will create a MATLAB figure that shows the occupancy grid map, the potential field, the start and goal positions, and the gradient vectors of the potential field.
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