Motion Planning

Plan flight trajectories and poses for UAV missions

Generate flight trajectories with constraints and cost optimization. Perform obstacle avoidance for UAV missions.

Functions

`controllerVFH3D`	Avoid obstacles using 3D vector field histogram (Since R2022b)
`uavDubinsConnection`	Dubins path connection for UAV (Since R2019b)
`uavDubinsPathSegment`	Dubins path segment connecting two poses of UAV (Since R2019b)
`minsnappolytraj`	Generate minimum snap trajectory through waypoints (Since R2021b)
`minjerkpolytraj`	Generate minimum jerk trajectory through waypoints (Since R2021b)
`waypointTrajectory`	Waypoint trajectory generator (Since R2020b)
`polynomialTrajectory`	Piecewise-polynomial trajectory generator (Since R2023a)

Compute obstacle-free direction using range sensor data and target position (Since R2021b)

Generate Random 3-D Occupancy Map for UAV Motion Planning
This example shows how to generate a random 3-D occupancy map by automatically adding the desired number of obstacles of varying dimensions at random positions on the map.

Simulate waypoint following mission with obstacles using the 3D VFH+ algorithm to compute obstacle-free direction.

Plan and customize coverage path for a UAV to survey a geographical region.

Plan the 3D motion of a fixed-wing UAV using the rapidly exploring random tree (RRT) algorithm given a start and goal pose.

Plan a 3D minimum snap trajectory for a multirotor UAV from a start to a goal pose by using the RRT* path planner.

Tune the controllerVFH3D System object™ to navigate a multirotor UAV in an obstacle environment using a lidar sensor.

Demonstrates enabling and interfacing onboard computer path planning with PX4® Software-in-the-Loop (SITL).

Avoid collision with moving obstacles based on the velocity obstacle concept by using radar detections.