2d micromouse simulation using mobile robotics toolbox

I have created a plant model for 2d micromouse simulation using Mobile robotics toolbox.The maze is generated using simulation map generator app.A lidar sensor is used to get the distance from the walls.I have seen many matlab examples for solving a maze but it didn't involve robot dynamics.How can i map the whole maze?What is the strategy for maze mapping using this toolbox?How can i implement various shortest path algorithms like A*,Flood fill,Bellman Ford etc?As shown in figure the maze was designed in cad and then imported as image in map generator app.The maze is 16x16 so how can i define nodes ?Also i would like to know any other strategy using this method.

[Mustafa salah]

Can you learn me how to draw the Maze Environment by using robotic toolbox

[TEJAS PHUTANE]

Step 1 : Create a 1:1 2d drawing of maze in any cad software e.g. Autocad with proper dimensions.

Step 2 : Save the drawing as image with proportional resolution e.g. if the outer dimensions of maze is 2.8m x 2.8m then the resolution of image can be 280x280,560x560 or 2800x2800 etc.

Step 3 : import the image in simulation map generator app and give necessary info such as dimensions of image in metres,type of map (line following/obstacle),threshold value etc. to get binary occupancy map which can be used for 2d simulation of mobile robots.

[Elad Kivelevitch]

@Mustafa: you can use the Amaze (a maze generator) code that The MathWorks co-founder Cleve Moler posted.

https://www.mathworks.com/matlabcentral/fileexchange/70451-amaze-a-maze-generator?s_tid=srchtitle

[Mustafa salah]

@TEJAS PHUTANE @Elad Kivelevitch

thank you sir for help me ,thanks from my heart

I will try this

Answer 1

[Ankur Srivastava]

Hi @TEJAS PHUTANE,

The following features of MATLAB can be helpful to get things started:

• mapMaze : For generating the random 2D-Maze map.
• lidarScan : For getting lidar data from occupancymap
• plannerAStarGrid : For searching in an occupancyMap
• plannerRRTStar : For searching in an occupancyMap

Following example showcase the generation for lidar scan of environment, create environment and find path using RRT*.

Create Egocentric Occupancy Maps Using Range Sensors - MATLAB & Simulink (mathworks.com)