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Find intersection points of rays and occupied map cells



intersectionPts = rayIntersection(map,pose,angles,maxrange) returns intersection points of rays and occupied cells in the specified map. Rays emanate from the specified pose and angles. Intersection points are returned in the world coordinate frame. If there is no intersection up to the specified maxrange, [NaN NaN] is returned.


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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];

Figure contains an axes. The axes with title Binary Occupancy Grid contains an object of type image.

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
        [vehiclePose(2),intsectionPts(i,2)],'-b') % Plot intersecting rays
    [vehiclePose(2),vehiclePose(2)+6*cos(angles(4))],'-b') % No intersection ray

Figure contains an axes. The axes with title Binary Occupancy Grid contains 7 objects of type image, line.

Input Arguments

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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 true (1) and free locations as false (0).

Position and orientation of the sensor, specified as an [x y theta] vector. The sensor pose is an x and y position with angular orientation theta (in radians) measured from the x-axis.

Ray angles emanating from the sensor, specified as a vector with elements in radians. These angles are relative to the specified sensor pose.

Maximum range of laser range sensor, specified as a scalar in meters. Range values greater than or equal to maxrange are considered free along the whole length of the ray, up to maxrange.

Output Arguments

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Intersection points, returned as n-by-2 matrix of [x y] pairs in the world coordinate frame, where n is the length of angles.

Extended Capabilities

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

Introduced in R2019b