Inflate Obstacles in an Occupancy Grid
This example shows how the inflate method performs probabilitistic inflation on obstacles to inflate their size and create a buffer zone for areas with a higher probability of obstacles.
Create a 10m x 10m empty map.
map = robotics.OccupancyGrid(10,10,10);
Update occupancy of world locations with specific values in pvalues.
map = robotics.OccupancyGrid(10,10,10); x = [1.2; 2.3; 3.4; 4.5; 5.6]; y = [5.0; 4.0; 3.0; 2.0; 1.0]; pvalues = [0.2 0.4 0.6 0.8 1]; updateOccupancy(map,[x y],pvalues) figure show(map)
Inflate occupied areas by a given radius. Larger occupancy values are written over smaller values. You can copy your map beforehand to revert any unwanted changes.
savedMap = copy(map); inflate(map,0.5) figure show(map)