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In this this coursework you need to use the rapidly exploring random tree ( RRT ) algorithm to plan a path for a mobile robot

In this this coursework you need to use the rapidly exploring random tree (RRT) algorithm to plan a path for a mobile robot through a known map. Student can tune his/her own planner with custom state space and path validation objects for any navigation application. using MatLab in all.
1. Write a MATLAB program to load an existing occupancy map of a small office space. Plot the start and goal poses of the robot on top of the map.
2. Write a MATLAB program to define the space of the robot using a stateSpaceDubins object and specifying the state bounds. A turning radius of 0.5 meters needs to be applied.
3. Write a MATLAB program for the RRT algorithm and plot the path of the robot in the map.

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