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Cell Size of Occupancy Grid Map

Hello Community,

 

I am working on applying the A* path planning algorithm to an occupancy grid map. My grid is 16×16, and it is supposed to represent an 8×8m area, with cell size at 0.5m/cell. But currently, the grid is 1m/cell.

Please, I need help on how to achieve the grid size of 0.5m/cell.

 

Attached below is my code.

Thank you.

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Hi Chimsom,

 

Do you feel comfortable attaching the SubVIs as well?

 

Having the SubVIs will help in determining the best solution to this issue.

 

Thanks!

Ramsey Doany

Technical Support Engineering

National Instruments

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Hi Ramsey,

 

Thank you very much for your reply.

All the blocks used in the VI are straight from LabVIEW Robotics Module.

 

Thank you.

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Hi Chimsom,

 

Thank you for that clarification.

 

Have you taken a look at the example code for this application?

If not, you can find those using Help >> Find Examples >> Search. Then Enter Keyword "Astar". There should be an example caled "Astar on Occupancy Grid.lvproj" that may give you a starting point with more modularity.

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I'm pretty sure that VIs you're talking about are unitless.  So, 16x16 just means there are 16 cells by 16 cells, and the VIs don't care how big each cell is.  If it represents an 8m x 8m area, then each cell is 0.5 meters.

Brian Powell
Stravaro, LLC


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