Path Planning and Following

Path planning, and path following

Plan paths for robots in a given environment using mobileRobotPRM and tune a pure pursuit controllers to follow a set of waypoints using the controllerPurePursuit object and Pure Pursuit block in Simulink^®.

Functions

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Path Planning

`mobileRobotPRM`	Create probabilistic roadmap path planner (Since R2019b)
`findpath`	Find path between start and goal points on roadmap (Since R2019b)

Path Following

controllerPurePursuit Create controller to follow set of waypoints (Since R2019b)

Blocks

Pure Pursuit

Linear and angular velocity control commands (Since R2019b)

Topics

Path Planning

Probabilistic Roadmaps (PRM)
How the PRM algorithm works and specific tuning parameters.
Plan Path for a Differential Drive Robot in Simulink
This example demonstrates how to execute an obstacle-free path between two locations on a given map in Simulink®.

Path Following and Control

Pure Pursuit Controller
Pure Pursuit Controller functionality and algorithm details.
Path Following for a Differential Drive Robot
This example demonstrates how to control a robot to follow a desired path using a Robot Simulator.
Control Differential Drive Robot in Gazebo with Simulink
This example shows how to control a differential drive robot in Gazebo co-simulation using Simulink®.

Featured Examples

Path Planning in Environments of Different Complexity

Demonstrates how to compute an obstacle-free path between two locations on a given map using the Probabilistic Roadmap (PRM) path planner. PRM path planner constructs a roadmap in the free space of a given map using randomly sampled nodes in the free space and connecting them with each other. Once the roadmap has been constructed, you can query for a path from a given start location to a given end location on the map.

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