Create and Assign Map to State Validator

Load the cost values of cells in the vehicle costmap of a parking lot.

load parkingLotCostVal.mat % costVal

Create a binaryOccupancyMap with cost values.

map = binaryOccupancyMap(costVal);

Create a state validator object for collision checking.

validator = validatorOccupancyMap;

Assign the map to the state validator object.

validator.Map = map;

Plan and Visualize Path

Initialize the plannerHybridAStar object with the state validator object. Specify the MinTurningRadius and MotionPrimitiveLength properties of the planner.

planner = plannerHybridAStar(validator,'MinTurningRadius',4,'MotionPrimitiveLength',6);

Define start and goal poses for the vehicle as [x, y, theta] vectors. x and y specify the position in meters, and theta specifies the orientation angle in radians.

startPose = [6 10 pi/2]; % [meters, meters, radians]
goalPose = [90 54 -pi/2];

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

refpath = plan(planner,startPose,goalPose);

Visualize the path using show function.

show(planner)