Mapping and Navigation in Matlab

Hello, I have a robot with an Arduino board and Ultrasonic sensor for measuring distance in cm (with several degrees using servo motor). Robot measures distance and sends data to Matlab. Now, I got data in Matlab and plotted (distance/ degree).

I am trying to plot a map using sonar data and with the position in (degrees) for representing real world map by:

-Binary occupancy grid (robotics.BinaryOccupancyGrid) -Probability occupancy grid (robotics.OccupancyGrid) -Flow path How could I plot distance data on a Binary Occupancy Grid, Occupancy Grid for the probabilistic road map and finally, flow path?

I found this link on Youtube is similar to what I am planning to do https://www.youtube.com/watch?v=H3ZxAugdrYQ

Please, could you help me with this if anyone has any experience with it?

Thanks,

Answer 1

[Sebastian Castro]

Have you seen the examples online?

Building a map from sensor data, having known poses: https://www.mathworks.com/help/robotics/examples/mapping-with-known-poses.html

Planning a path, given a known map: https://www.mathworks.com/help/robotics/examples/path-planning-in-environments-of-different-complexity.html

- Sebastian