Create 3D Occupancy Map under R2016b

Hello,

I want to generate a 3D Occupancy Map in Simulink that includes static environment, target object, dynamic obstacles and a robotic manipulator that shall move through the environment to pick up objects avoiding the obstacles during the handling task. I want to use the Occupancy Map to plan collision-free paths.

I am trying to figure out a efficient way to calculate the occupancy of voxels. I have the TCP Pose and the Joint configurations of the robot. So i can calculate how the robot is positioned. I would like to use cylinders as approximation for links. I know how to check if points are inside cylinders of arbitrary orientation. But i want to avoid checking the whole 3D Mapp for every Object again. I could potentially use the center of a link to choose a smaller region of voxels because I know from geometry that only a certain area is possible.

My question is if there is a more efficient way to calculate occupancy in R2016b where I am able to just input the configuration and by this already tell the map whch voxels are occupied? Similar to R2018a robotics.OccupancyMap3D. But I can not use R2018a.

Best Regards

Martin

[Dheeraj Singh]

There is no straighforward way to do it with R2016b. You will have to use R2018a for 3D Occupancy Map .

[ARIFF HAIKAL]

hi,

is it can be used in R2019a as well ?

[Walter Roberson]

Yes, https://www.mathworks.com/help/releases/R2019a/robotics/ref/robotics.occupancymap3d-class.html?searchHighlight=robotics.OccupancyMap3D&s_tid=doc_srchtitle

However, as of R2019b it might have moved from Robotics Toolbox to the new Navigation Toolbox; https://www.mathworks.com/help/nav/ref/occupancymap3d.html -- notice the R2019b introduction on there and the removal of the prefix "robotics."