Creating a safety distance from an obstacle in occupancyMap
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Hi, I have a txt file that I read with the help of occupancyMap and it forms the map of my robot's environment.
The map has obstacles that the robot must not encounter while planning its route (using the RRT algorithm)
The routes I get are very, very close to the obstacles on the map, and since my robot is big, it gets stuck on these obstacles.
That's why I want to thicken the obstacles a little. So that the algorithm will think that there is an obstacle at certain points, even though in reality there is not, and thus it will not plan for the route to pass close to the obstacles.
I tried to use inflate(inflatedmap,10^-1), but it really thickens the obstacles and it's not good..
What other way can be done to solve this problem?
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1566859/image.png)
Look at the red route.. its too close to the obstacle
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1566864/image.png)
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Image Analyst
il 14 Dic 2023
Modificato: Image Analyst
il 14 Dic 2023
Also see Steve's multi-part blog on shortest paths:
If you don't have the Image Processing Toolbox, you could thicken the white blobs in the original mask by blurring and then thresholding.
windowSize = 15; % Whatever.
kernel = ones(windowSize) / windowSize^2;
blurredImage = conv2(mask, kernel);
% Threshold to creat a new, bigger mask
mask = mask > 0.2; % Adjust value to adjust thickness.
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