Find intersection points of rays and occupied map cells
returns intersection points of rays and occupied cells in the specified
intersectionPts = rayIntersection(
map. Rays emanate from the specified
points are returned in the world coordinate frame. If there is no intersection
up to the specified
Get Ray Intersection Points on Occupancy Map
Create a binary occupancy grid map. Add obstacles and inflate them. A lower resolution map is used to illustrate the importance of the size of your grid cells. Show the map.
map = binaryOccupancyMap(10,10,2); obstacles = [4 10; 3 5; 7 7]; setOccupancy(map,obstacles,ones(length(obstacles),1)) inflate(map,0.25) show(map)
Find the intersection points of occupied cells and rays that emit from the given vehicle pose. Specify the max range and angles for these rays. The last ray does not intersect with an obstacle within the max range, so it has no collision point.
maxrange = 6; angles = [pi/4,-pi/4,0,-pi/8]; vehiclePose = [4,4,pi/2]; intsectionPts = rayIntersection(map,vehiclePose,angles,maxrange)
intsectionPts = 4×2 3.5000 4.5000 6.0000 6.0000 4.0000 9.0000 NaN NaN
Plot the intersection points and rays from the pose.
hold on plot(intsectionPts(:,1),intsectionPts(:,2),'*r') % Intersection points plot(vehiclePose(1),vehiclePose(2),'ob') % Vehicle pose for i = 1:3 plot([vehiclePose(1),intsectionPts(i,1)],... [vehiclePose(2),intsectionPts(i,2)],'-b') % Plot intersecting rays end plot([vehiclePose(1),vehiclePose(1)-6*sin(angles(4))],... [vehiclePose(2),vehiclePose(2)+6*cos(angles(4))],'-b') % No intersection ray
map — Map representation
Map representation, specified as a
binaryOccupancyMap object. This object represents the
environment of the robot. The object contains a matrix grid with binary
values indicating obstacles as
1) and free locations as
pose — Position and orientation of sensor
Position and orientation of the sensor, specified as an
theta] vector. The sensor pose is an
x and y position with angular
orientation theta (in radians) measured from the
angles — Ray angles emanating from sensor
Ray angles emanating from the sensor, specified as a vector with elements
in radians. These angles are relative to the specified sensor
maxrange — Maximum range of sensor
Maximum range of laser range sensor, specified as a scalar in meters.
Range values greater than or equal to
considered free along the whole length of the ray, up to