findpath

Find path between start and goal points on roadmap

Syntax

xy= findpath(prm,start,goal)

Description

xy= findpath(prm,start,goal)finds an obstacle-free path betweenstartandgoallocations withinprm, a roadmap object that contains a network of connected points.

If any properties ofprm改变,或如果没有创建路线图,updateis called.

Input Arguments

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`prm`—Roadmap path planner
`mobileRobotPRM`object

Roadmap path planner, specified as amobileRobotPRMobject.

`start`—Start location of path
1-by-2 vector

Start location of path, specified as a 1-by-2 vector representing an[x y]pair.

Example:[0 0]

`goal`—Final location of path
1-by-2 vector

Final location of path, specified as a 1-by-2 vector representing an[x y]pair.

Example:[10 10]

Output Arguments

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`xy`— Waypoints for a path between`start`and`goal`
n-by-2 column vector

Waypoints for a path between start and goal, specified as an-by-2 column vector of[x y]pairs, wherenis the number of waypoints. These pairs represent the solved path from thestartandgoallocations, given the roadmap from theprminput object.

Version History

Introduced in R2019b

findpath

Syntax

Description

Input Arguments

prm—Roadmap path plannermobileRobotPRMobject

start—Start location of path1-by-2 vector

goal—Final location of path1-by-2 vector