In 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. tune planner with custom state space and path validation objects for any navigation application.

$*$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.

$*$Write a MATLAB program to define the space of the robot using a stateSpaceDubins object and specifying the state bounds. A turning radius of $0\mathrm{.}5$ meters needs to be applied.

$*$Write a MATLAB program for the RRT algorithm and plot the path of the robot in the map.