Create Occupancy Map of any Shape

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.

Answer 1

[Image Analyst]

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.

[newbie coder]

Actually i'm working on ROS, and i am already having a code of Optimizer for Navigation purpose. So right now i am able to import this image as a binary occupancy map. Now i want to add robots in it.

So, i was thinking if that is not possible than how can i make this map manually?

Can you give me the answers of both the situation?

Regards

[Image Analyst]

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.

Answer 2

[Gaurav Bhosale]

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