Matlab <-> PLC ,Robot Mobile

Hi everyone,
How I can create map to Robot Mobile in Siumlink and upload or generate code to my Robot mobile which is contorl by PLC ?
Is it possible ?
Currently ,I try creat AGV(Robot Mobile) which is control by PLC but I saw amazing options in Simulink where I can create maps to other robots.
I'd like to create algorithm by Simulink.
What do you think ? Is it good way to create program for mobile robot or rather not ?

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R2019b

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