Using Occupancy Grid/Map in Simulink

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?

Answer 1

[Amrtanshu Raj]

Hi,

You can refer to this documentation for implementation pathplanner in Simulink using occupancy map(check the planning block).

Hope this helps.

[Slava Shougaev]

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.