Motion Planning
Plan flight trajectories and poses for UAV missions
Generate flight trajectories with constraints and cost optimization. Perform obstacle avoidance for UAV missions. Import trajectories into 3D simulation environment.
Functions
minsnappolytraj | Generate minimum snap trajectory through waypoints (Since R2021b) |
minjerkpolytraj | Generate minimum jerk trajectory through waypoints (Since R2021b) |
Objects
controllerVFH3D | Avoid obstacles using 3D vector field histogram (Since R2022b) |
uavDubinsConnection | Dubins path connection for UAV |
uavDubinsPathSegment | Dubins path segment connecting two poses of UAV |
waypointTrajectory | Waypoint trajectory generator (Since R2020b) |
polynomialTrajectory | Piecewise-polynomial trajectory generator (Since R2023a) |
uavFormationMetrics | UAV trajectory ensemble for formation performance metrics (Since R2024b) |
Blocks
Obstacle Avoidance | Compute obstacle-free direction using range sensor data and target position (Since R2021b) |
Read UAV Trajectory | Generate translation and rotation samples from UAV trajectory (Since R2024b) |
Topics
- 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 UAV Scenario Trajectory in Unreal Engine Environment
Design a flight trajectory in a UAV scenario, and simulate the trajectory in a 3D environment using Unreal Engine®.
- Design Real-World Trajectory in UAV Scenario and Visualize with Cesium
Design real-world trajectory in UAV Scenario and visualize trajectory in 3D environment using Cesium
- Simulate Flight Plan in Real-World Location Using Cesium
simulate a flight plan created with QGroundControl in 3D environment using Cesium