Hello Bruno,
Your initial approach of locating and changing the layers of the map to replace it with the harbour map was in the right direction. You referred to the following example:
1. Changing Map Type
Based on the above reference, you would need to modify the “helperSLCreateCostmap.m” function in MATLAB for your particular use case. Use the following command to open the function in MATLAB:
openExample('driving/AutomatedParkingValetSimulinkExample','supportingFile','helperSLCreateCostmap.m')
The function creates a “vehicleCostmap” object that is to be created for the planning search space around a vehicle.For more information on the “vehicleCostmap” object, you can refer to the following documentation:
After getting the understanding of the function you can create or obtain a map that represents a harbour with its various layers for example, stationary obstacles, waterways instead of road markings and docked boats instead of parked cars. You would also need to ensure that these images are in the bitmap format (.bmp) similar to what the original examples uses.
2. Changing Vehicle Type
For changing the boat image, find the block or subsystem controlling the vehicle in the Simulink Model to modify the “vehicleDimensions” object catered to a boat. For more information on the “vehicleDimensions” object, you can refer to the following documentation:
Hope it helps!
