モーションプランニング

R2026a

UAV ミッション、飛行軌跡、および姿勢を計画し、障害物回避を実行する

制約とコスト最適化を使用して飛行軌跡を生成します。UAV ミッションの障害物回避を実行します。軌跡を 3D シミュレーション環境にインポートします。

オブジェクト

`multirotorFlightTrajectory`	Multirotor UAV trajectory (R2022b 以降)
`fixedwingFlightTrajectory`	Fixed-wing UAV trajectory (R2022b 以降)
`waypointTrajectory`	ウェイポイント軌跡ジェネレーター
`polynomialTrajectory`	Piecewise-polynomial trajectory generator (R2023a 以降)
`uavDubinsConnection`	Dubins path connection for UAV
`uavDubinsPathSegment`	Dubins path segment connecting two poses of UAV

controllerVFH3D Avoid obstacles using 3D vector field histogram (R2022b 以降)

`uavCoveragePlanner`	Path planner for UAV space coverage (R2023a 以降)
`uavCoverageSpace`	2D coverage area for coverage planner (R2023a 以降)

`uavMission`	UAV mission data (R2022b 以降)
`multirotorMissionParser`	Generate trajectory for multirotor UAV from mission (R2022b 以降)
`fixedwingMissionParser`	Generate trajectory for fixed-wing UAV from mission (R2022b 以降)

`minsnappolytraj`	Generate minimum snap trajectory through waypoints
`minjerkpolytraj`	Generate minimum jerk trajectory through waypoints

coverageDecomposition Decompose concave polygon into convex polygons (R2023a 以降)

	Obstacle Avoidance	Compute obstacle-free direction using range sensor data and target position
	Minimum Jerk Polynomial Trajectory	Generate minimum jerk polynomial trajectories through multiple waypoints (R2022a 以降)
	Minimum Snap Polynomial Trajectory	Generate minimum snap polynomial trajectories through multiple waypoints (R2022a 以降)
	Read UAV Trajectory	Generate translation and rotation samples from UAV trajectory for 3D simulation (R2024b 以降)

Simulate UAV Mission in Urban Environment
Simulate a UAV mission in an urban environment using UAV scenario and OpenStreetMap® data of Manhattan, New York.
Generate Random 3-D Occupancy Map for UAV Motion Planning
This example shows how to generate a random 3D 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 a real-world trajectory in a UAV scenario, and visualize the trajectory in a 3D environment using Cesium.
Simulate Flight Plan in Real-World Location Using Cesium
Simulate a flight plan created with QGroundControl in a 3D environment using Cesium.