Interpolation with interp1 to show the path of a robot

Hi, I'm quite new to Matlab and do not have any previous knowledge of programming, this has made my uni Matlab projects quite challenging for me. So I have this lab assignment in which I am supposed to use interp1 in order to interpolate a specific path that a robot must follow in order to collect 3 objects, avoid some obstacles and return to the starting point. The size of the robot is 20x20 and I attached an image showing the map of the objects and the obstacles. The designed path is supposed to be smooth so I guess I must use 'spline' method for interp1. This is as far as I got and any help would be appreciated since I am completely lost: x=[0,30,130,110,90,50,0]; y=[0,40,0,-30,-50,-30,0]; stop=find(x==max(x));

x1=x(1:stop); x2=x(stop:end); y1=y(1:stop); y2=y(stop:end);

Thanks in advance.

[MathWorks Student Competitions Team]

Hi Roberto, to implement waypoint path planning using interp1 and spline interpolation, see the following example.

% define waypoints
t = [0 1 2 3 4 5];
points = [0 0; 1 0; 1 1; 0 1; 0 2; 1 2];
x = points(:,1);
y = points(:,2);

% calculate spline for way points
tq = 0:0.1:5;
xq = interp1(t,x,tq,'spline');
yq = interp1(t,y,tq,'spline');

If we go ahead and plot xq vs. yq, we obtain the following path.