how to generate look up data table for custom vritual environment

hey there

I'm using this example from matlab source.

please you may click on the link bellow. ( Mobile Robot Simulation for Collision Avoidance with Simulink)

http://www.mathworks.com/matlabcentral/fileexchange/47208-mobile-robot-simulation-for-collision-avoidance-with-simulink

here i am using this licensed source to develop a mobile robot with virtual Maze environment in order to avoid the obstacles and run inside this environment.the differences are only the Maze design and dimensions.

when i use this look up table to my design the robot behaves like running on the environment provided by of Matlab Source.

the problem is how can i generate look up table based on my Maze design so that the robot will avoid the obstacles and run inside the maze without passing through the virtual wall of this Maze.

in other way, is there any guide on how MathWorks Support Team design this look up table 2001X12001 double. file's name WorldLUTData.mat

is it based on the dimension of the virtual environment or extracted from the VRLM design?

thank you so much