diff --git a/Mapping/raycasting_grid_map/raycasting_grid_map.py b/Mapping/raycasting_grid_map/raycasting_grid_map.py
index c93ad7ed..67ae4fd2 100644
--- a/Mapping/raycasting_grid_map/raycasting_grid_map.py
+++ b/Mapping/raycasting_grid_map/raycasting_grid_map.py
@@ -50,7 +50,7 @@ def atan_zero_to_twopi(y, x):
 
 def precasting(minx, miny, xw, yw, xyreso, yawreso):
 
-    precast = [[] for i in range(round((math.pi * 2.0) / yawreso) + 1)]
+    precast = [[] for i in range(int(round((math.pi * 2.0) / yawreso)) + 1)]
 
     for ix in range(xw):
         for iy in range(yw):
@@ -59,7 +59,7 @@ def precasting(minx, miny, xw, yw, xyreso, yawreso):
 
             d = math.sqrt(px**2 + py**2)
             angle = atan_zero_to_twopi(py, px)
-            angleid = math.floor(angle / yawreso)
+            angleid = int(math.floor(angle / yawreso))
 
             pc = precastDB()
 
@@ -87,7 +87,7 @@ def generate_ray_casting_grid_map(ox, oy, xyreso, yawreso):
 
         d = math.sqrt(x**2 + y**2)
         angle = atan_zero_to_twopi(y, x)
-        angleid = math.floor(angle / yawreso)
+        angleid = int(math.floor(angle / yawreso))
 
         gridlist = precast[angleid]
 
diff --git a/PathPlanning/PotentialFieldPlanning/potential_field_planning.py b/PathPlanning/PotentialFieldPlanning/potential_field_planning.py
index f77466d6..946b08d8 100644
--- a/PathPlanning/PotentialFieldPlanning/potential_field_planning.py
+++ b/PathPlanning/PotentialFieldPlanning/potential_field_planning.py
@@ -25,8 +25,8 @@ def calc_potential_field(gx, gy, ox, oy, reso, rr):
     miny = min(oy) - AREA_WIDTH / 2.0
     maxx = max(ox) + AREA_WIDTH / 2.0
     maxy = max(oy) + AREA_WIDTH / 2.0
-    xw = round((maxx - minx) / reso)
-    yw = round((maxy - miny) / reso)
+    xw = int(round((maxx - minx) / reso))
+    yw = int(round((maxy - miny) / reso))
 
     # calc each potential
     pmap = [[0.0 for i in range(yw)] for i in range(xw)]
@@ -107,8 +107,8 @@ def potential_field_planning(sx, sy, gx, gy, ox, oy, reso, rr):
         minp = float("inf")
         minix, miniy = -1, -1
         for i in range(len(motion)):
-            inx = ix + motion[i][0]
-            iny = iy + motion[i][1]
+            inx = int(ix + motion[i][0])
+            iny = int(iy + motion[i][1])
             if inx >= len(pmap) or iny >= len(pmap[0]):
                 p = float("inf")  # outside area
             else: