Navigation Toolbox
Design, simulate, and deploy algorithms for planning and navigation
Navigation Toolbox™ provides algorithms and analysis tools for designing motion planning and navigation systems. The toolbox contains customizable search and sampling-based path-planners. It also contains sensor models and algorithms for multi-sensor pose estimation. You can create 2D and 3D map representations using your own data or generate maps using the simultaneous localization and mapping (SLAM) algorithms included in the toolbox. Reference examples are provided for self-driving and robotics applications.
You can generate metrics for comparing path optimality, smoothness, and performance benchmarks. The SLAM map builder app lets you interactively visualize and debug map generation. You can test your algorithms by deploying them directly to hardware (with MATLAB Coder™ or Simulink Coder™).
Get Started:
Simultaneous Localization and Mapping (SLAM)
Implement SLAM algorithms with lidar scans using pose graph optimization. Use SLAM Map Builder app to find and modify loop closures. Build and export the resulting map as an occupancy grid.
Map generation using lidar SLAM.
Localization and Pose Estimation
Apply Monte Carlo Localization (MCL) to estimate the position and orientation of a vehicle using sensor data and a map of the environment.
Estimate pose of nonholonomic and aerial vehicles using inertial sensors and GPS. Determine pose without GPS by fusing inertial sensors with altimeters or visual odometry.
Monte Carlo Localization in an indoor environment.
2D and 3D Map Representations
Create a binary or probabilistic occupancy grid using real or simulated sensor readings. Use egocentric maps that are fast to query and memory efficient.
3D occupancy grid visualization.
Path Planning
Use sampling-based path planners such as Rapidly-Exploring Random Tree (RRT) and RRT* to find a path from start to goal locations. Adapt the planner interface to your application’s state space. Use Dubins and Reeds-Shepp motion primitives to create smooth, drivable paths.
Path from RRT* algorithm.
Metrics for Path Planning
Use metrics to validate paths for smoothness and clearance from obstacles. Choose the best path using numerical and visual comparisons.
Path clearance metric.
Path Following and Controls
Tune control algorithms to follow a planned path. Compute steering and velocity commands using vehicle motion models. Avoid obstacles with algorithms such as vector field histogram.
Path following using pure pursuit controller.
Sensor Models
Model IMU, GPS, and INS sensors. Tune parameters such as temperature and noise to emulate real-world conditions. Estimate distances to objects using range sensors and measure vehicle motion with odometry sensors.
IMU and GPS model.
Sensor Motion Simulation
Plot a vehicle’s orientation, velocity, trajectories, and sensor measurements. Generate trajectories to emulate sensors traveling through the world. Export trajectories to external simulators or to a scenario designer.
Waypoint trajectory and velocity interpolation.
Simultaneous Localization and Mapping (SLAM)
Create 2D and 3D occupancy maps using SLAM algorithm and LiDAR scan data
SLAM Map Builder App
Interactively modify loop closures and adjust overall maps using SLAM algorithms
Pose Estimation
Accurately estimate vehicle poses using IMU and GPS sensors and Monte Carlo localization
Customizable Sampling-Based Path Planners
Plan a path from start to goal locations using RRT and RRT* algorithms
Path-Planning Metrics
Use metrics to check and compare the output of path planners
Sensor Models
Use simulated models for IMU, GPS, and range sensors
Trajectory and Waypoint Following Algorithms
Use built-in algorithms to generate trajectories and control commands for robots
See release notes for details on any of these features and corresponding functions.
Have Questions?
Contact Mihir, Navigation Toolbox Technical Expert
