Occupancy Grid Map VIs

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Path Planning VIs

Requires: Robotics Module. This topic might not match its corresponding palette in LabVIEW depending on your operating system, licensed product(s), and target.

Use the Occupancy Grid Map VIs to create and control an occupancy grid map through which a mobile robot can navigate. Occupancy grid maps are useful for representing robot environments in which you know the cost of traversing each point in the map.


In the Occupancy Grid Map VIs, (x, y) coordinates that define the locations of cells are relative to the origin of the map, which is the cell at the bottom-left corner of the map. Refer to the Details section in the Create Occupancy Grid Map VI topic for more information about how (x, y) coordinate pairs map to cells in occupancy grid maps.
Note  The VIs on this palette cannot execute at the same time. Enforce data dependency between these VIs to ensure they do not run simultaneously.
Palette ObjectDescription
Close Occupancy Grid MapCloses an open reference to an occupancy grid map object.
Create Occupancy Grid MapGenerates a map in the form of a grid of variables, or cells, that describe the robot environment.
Enqueue Change to Cell CostRequests that LabVIEW update the cost of entering the cell in the occupancy grid map at the x- and y-coordinates you specify.
Get All Occupancy Grid CellsReturns an array of the cells in an occupancy grid map.
Get Cell CostReturns the cost of entering the cell in the occupancy grid map at the x- and y-coordinates you specify.
Get Cell ReferenceReturns a reference to the cell in the occupancy grid map at the position you specify.
Get Cells in PathReturns the cell coordinates of the points along a path through an occupancy grid map.


Refer to the following VIs for examples of using the Occupancy Grid Map VIs:

  • labview\examples\robotics\Path Planning\ADstar\ADstar on Occupancy Grid\Anytime D Star on an Occupancy Grid.lvproj
  • labview\examples\robotics\Path Planning\Astar\Astar on Occupancy Grid\Astar on Occupancy Grid.lvproj


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