findpath

Find path between start and goal points on roadmap

Syntax

xy = findpath(prm,start,goal)

Description

xy = findpath(prm,start,goal) finds an obstacle-free path between start and goal locations within prm, a roadmap object that contains a network of connected points.

If any properties of prm change, or if the roadmap is not created, update is called.

Input Arguments

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`prm` — Roadmap path planner
`mobileRobotPRM` object

Roadmap path planner, specified as a mobileRobotPRM object.

`start` — Start location of path
1-by-2 vector

Start location of path, specified as a 1-by-2 vector representing an [x y] pair.

Example: [0 0]

`goal` — Final location of path
1-by-2 vector

Final location of path, specified as a 1-by-2 vector representing an [x y] pair.

Example: [10 10]

Output Arguments

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`xy` — Waypoints for a path between `start` and `goal`
n-by-2 column vector

Waypoints for a path between start and goal, specified as a n-by-2 column vector of [x y] pairs, where n is the number of waypoints. These pairs represent the solved path from the start and goal locations, given the roadmap from the prm input object.

Version History

Introduced in R2019b

findpath

Syntax

Description

Input Arguments

prm — Roadmap path planner mobileRobotPRM object

start — Start location of path 1-by-2 vector

goal — Final location of path 1-by-2 vector