I have question related to occupied and non occupied spaces in MATLAB.

My research is related to finding the optimal path via avoiding obstacles. I have created random obstacles and a target with robot start point as well.

I just wanted to know how can I find that a box in a graph is occupied or not.

I wanted to check which places in a graph is filled. Like if it is filled than It can be set as 1 otherwise 0.

0= not occupied

1=occupied.

Kindly help in this regard.

[Alan Weiss]

What is your data structure for the graph? In other words, what data do you use to represent a "box" and a "graph"?

Alan Weiss

MATLAB mathematical toolbox documentation

[passioncoding]

I have created normal grid based graph in matlab.

[Walter Roberson]

Then index the array to find out what the value is at the desired location ?

[Image Analyst]

Does the robot know the locations of the obstacles in advance, or does it have to discover them as it moves. If it has to discover them, how far (how many grid points) can it see away from its current location?

[passioncoding]

Right now I have just created random obstacles in grid based graph and one goal and other robot. ( created an arrow and circle to show the robot). I can implement A star algorithm to search for shortest path with the help of grid points.

And right now robot doesnot know where obstacles are it has to discover them when it moves. and thats why I am asking this question.

I have thought that ,those grid boxes which contain obstacles are defined as occupied spaces and empty ones as non-occupied. According to which algorithm can be written to search for path with short distance.

Answer 1

[Image Analyst]

There is a whole field devoted to this, and I am not an expert in it. You might check out section 15.1.4 (especially 15.1.4.3) in Vision Bibliography: Click here

• 15.1.4 Active Vision - Path/Trajectory Planning
• 15.1.4.1 Planning Sensor Position, View Selection, View Planning, Next View
• 15.1.4.1.1 Planning Optimal Sensor Positions
• 15.1.4.2 Camera Position, Sensor Position for Model Generation
• 15.1.4.3 Planning Vehicle Position, Path Planning or Route Planning
• 15.1.4.4 Planning Robot (Manipulator) Positions
• 15.1.4.5 Visibility Analysis, Sight Lines, Line of Sight
• 15.1.4.6 Free Space Computations, Free Space Analysis