Dear,
i want to create an algorithm for path planning, first i want to create the map of environment,
how to put in my program a standard environment?

i started with follow program
i created a 2D array
and a loop for sonar sensor

#pragma config(Sensor, S4, sonarSensor, sensorSONAR)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

// create 2D array 5 X 5
int square[][] =
{
{10, 9, 8, 7, 8},
{11, 10, -1, 6, 7},
{-1, -1, -1, 5, 6},
{1, 2, -1, 4, 5},
{0, 1, 2, 3, 4},
};

task main()
{

// Move forward until 7 cm from the wall.
while (SensorValue(sonarSensor) > 7)
{
motor[motorA] = 10;
motor[motorC] = 10;
}

// go backward
motor[motorA] = -6;
motor[motorC] = -6;
wait1Msec(5000); // stop in 5 seconds
}

Could you explain your code a little more? For example, what does your array represent?

Ps. Enclosing your code in "code" tags makes it more readable.

the black area it is the obstacle,
i defined with -1
the other numbers
Starting from an array value of 1, add 1 to
every adjacent square that is a 0.
Starting from an array value of 2, add 1 to
every adjacent square that is a 0.
Starting from the goal turn left, right or
continue straight to ensure the robot
always goes to a lower numbered cell
Or a same numbered cell if no lower one
exists

something like this picture,
but i don't know how to create a map or how to move the lego in one area

i want to move the robot based on array, how to connect the robot with array?

i believe the code for this example image is the follow
int square[][] =
{
{7, -1, 5, 6},
{6, 5, 4, -1},
{7, -1, 3, 2},
{8, -1, 3, 2},
};

how to put the robot motion with array?

how to create a static map? the obstacles not moves, i want to know before start the program where are the obstacles
if i will create a map may have the project