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Using Occupancy Grid/Map in Simulink

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How can I use occupancy map in Simulink?
I try to implement a path planner for a TurtleBot in Simulink. For the path planner I need to use an occupancy map.
I use Simulink because I have an interface for contacting with both the robot (ROS) and Optitrack cameras in Simulink.
I didn't find a way to define/input an occupancy grid into a Simulink model.
I tried to input it as a matrix, by transforming it back and forth using the command "occupancyMatrix", but then Simulink shows the following error:
"Dimension 1 is fixed on the left-hand side but varies on the right ([40 x 40] ~= [:? x :?])."
The error is shown while using the command:
sensedMapMat = double(occupancyMatrix(sensedMap) | occupancyMatrix(tempMap));
If not writing 'double', another error appears:
"This assignment writes a 'logical' value into a 'double' type. Code generation does not support changing types through assignment. Check preceding assignments or input type specifications for type mismatches."
How can I work with occupancy maps/grids in Simulink?

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Accepted Answer

Amrtanshu Raj
Amrtanshu Raj on 30 Oct 2020
Hi,
You can refer to this documentation for implementation pathplanner in Simulink using occupancy map(check the planning block).
Hope this helps.

  1 Comment

Slava Shougaev
Slava Shougaev on 2 Nov 2020
It requires more software installation to run the example, but at least there is a mention of how to use maps in Simulink.
Thank you.

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