Path planning using plannerAStarGrid in meters

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Michal Mihálik 2021-10-26

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https://ww2.mathworks.cn/matlabcentral/answers/1572033-path-planning-using-plannerastargrid-in-meters

编辑： Ankur Srivastava 2021-12-7

Is it possible to path planning using the plannerAStarGrid function in meters? Because how to create a planner is by default in rows and columns even if the map was specified in meters. Or is it possible to do some conversion of these rows and columns to meters?

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Answer 1

Ankur Srivastava 2021-12-7

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https://ww2.mathworks.cn/matlabcentral/answers/1572033-path-planning-using-plannerastargrid-in-meters#answer_849510

编辑：Ankur Srivastava 2021-12-7

在 MATLAB Online 中打开

% Creating a blank map
map = binaryOccupancyMap(10,10);
% Creating plannerAStarGrid object
astar = plannerAStarGrid(map);
% Planning in grid frame i.e. row/column
pathRC = astar.plan([1 1],[4,9]);
% Planning in world fram i.e. XY plane in meters
path = astar.plan([1.5 1.5],[4.5 9],'world')