%% 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)

% Copyright 2020 The MathWorks, Inc.