Create Occupancy Map of any Shape
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newbie coder
on 21 May 2023
Edited: Gaurav Bhosale
on 24 May 2023
Hi Everyone,
I am working on my Navigation project. The problem I'm facing right now is that whenever i try to cretae a map it is in rectangular or square shape. what i want is to create a binary map of a little bit circular. The image is attached. I also wat to add robots in it for navigation.![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1389944/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1389944/image.png)
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Accepted Answer
Image Analyst
on 21 May 2023
Do you want an image? You can use false
rows = 50; % Whatever you want.
columns = 80;
occupancyMap = false(rows, columns); % Initialize map to no locations being occupied.
then when a certain location needs to marked as "occupied" set that location to true.
occupancyMap(row, col) = true;
If you want certain locations to be "off limits" then you can set them to nan, or set them to true to mean they're already occupied and not available to be occupied by any robot wishing to move there.
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Image Analyst
on 22 May 2023
I don't know anything about ROS but I did show you code to make an occupancy map/image "manually" by using false. That's about all I can offer now. I don't even know what the other "situation" is. If you mean how to import a binary image, you can use imread.
More Answers (1)
Gaurav Bhosale
on 24 May 2023
Edited: Gaurav Bhosale
on 24 May 2023
Hi
You can use robotScenario to perform robot simulation. You can create scene by adding static mesh. Further, you can add robot as robotPlatform. In addition, once scene is created, you can get binary occupancy map of the created scene.
Let me know your requirement details.
Thanks
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