function map = random_map(X,Y,b,max_cost)
% Michael Otte
% University of Colorado at Boulder
%
% This function creats a random map that is X rows by Y columns
%
% b affects the size of cost hills (i.e. radius)
% cost is scaled between 1 and Max_cost


map = rand(X,Y).^(b*2);

for i = 1:1:b
    map = map_blur(map);     
end
map = 1 + normalise(map) .* (max_cost-1);