Hello Michael,
As per my understanding, you want to use a Custom Occupancy Map with the RRT* Path Planning algorithm.
The Binary Occupancy Map that you are creating using the mentioned documentation can be directly used with the RRT* algorithm. An example code for the same would look like:
% Create Binary Occupancy Map
map = binaryOccupancyMap(10,10,10);
% Initialize Path Planning
ss = stateSpaceSE2;
sv = validatorOccupancyMap(ss);
sv.Map = map;
sv.ValidationDistance = 0.01;
ss.StateBounds = [map.XWorldLimits; map.YWorldLimits; [-pi pi]];
% Initialize Planner
planner = plannerRRTStar(ss,sv, ...
ContinueAfterGoalReached=true, ...
MaxIterations=2500, ...
MaxConnectionDistance=0.3);
% Plan Path
start = [0.5 0.5 0];
goal = [2.5 0.2 0];
[pthObj,solnInfo] = plan(planner,start,goal);
For more information on Occupany Grids, you can refer to the following documentation:
