plan

Find shortest obstacle-free path between two points

Since R2020b

Syntax

path = plan(planner,start,goal)

path = plan(planner,start,goal,'world')

[path,debugInfo] = plan(___)

Description

path = plan(planner,start,goal) finds the shortest obstacle-free path, path, between a specified start point, start, and goal point, goal, specified as [row column] in grid frame with origin at top-left corner, using the specified A* path planner planner.

path = plan(planner,start,goal,'world') finds the shortest obstacle-free path, path, between a specified start point, start, and goal point, goal, specified as [x y] in world coordinate frame with origin at bottom-left corner, using the specified A* path planner planner.

[path,debugInfo] = plan(___) also returns debugInfo that contains the path cost, number of nodes explored, and GCost for each explored node.

Examples

Plan Obstacle-Free Path in Grid Map Using A-Star Path Planner

Plan the shortest collision-free path through an obstacle grid map using the A* path planning algorithm.

Generate a binaryOccupancyMap object with randomly scattered obstacles using the mapClutter function.

rng('default');
map = mapClutter;

Use the map to create a plannerAStarGrid object.

planner = plannerAStarGrid(map);

Define the start and goal points.

start = [2 3];
goal = [248 248];

Plan a path from the start point to the goal point.

plan(planner,start,goal);

Visualize the path and the explored nodes using the show object function.

show(planner)

Input Arguments

planner — A* path planner for grid map

plannerAStarGrid object

A* path planner for a grid map, specified as a plannerAStarGrid object.

start — Start position in grid or world

two-element vector

Start position in the grid or world, specified as a two-element vector of the form [row column], or [x y]. The location is in grid positions or world coordinates based on syntax.

Example: [2 3]

Data Types: double

goal — Goal position in grid or world

two-element vector

Goal position in the grid or world, specified as a two-element vector of the form [row column], or [x y]. The location is in grid positions or world coordinates based on syntax.

Example: [28 46]

Data Types: double

Output Arguments

path — Shortest obstacle-free path

n-by-2 matrix

Shortest obstacle-free path, returned as an n-by-2 matrix. n is the number of waypoints in the path. Each row represents the [row column], or [x y] location of a waypoint along the solved path from the start location to the goal. The location is in grid positions or world coordinates based on syntax.

Data Types: double

debugInfo — Debugging information for path result

structure

Debugging information for the path result, returned as a structure with these fields:

• PathCost — Cost of the path

• NumNodesExplored — Number of nodes explored

• GCostMatrix — GCost for each explored node

Data Types: struct

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2020b