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Path Planning and Following

Path planning, and path following

Plan paths for robots in a given environment using mobileRobotPRM and tune a pure pursuit controllers to follow a set of waypoints using the controllerPurePursuit object and Pure Pursuit block in Simulink®.


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mobileRobotPRMCreate probabilistic roadmap path planner (Since R2019b)
findpathFind path between start and goal points on roadmap (Since R2019b)
controllerPurePursuitCreate controller to follow set of waypoints (Since R2019b)


Pure PursuitLinear and angular velocity control commands (Since R2019b)


Path Planning

Path Following and Control