モーションプランニング

UAV ミッションの飛行軌跡と姿勢の計画

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。

関数

`uavCoveragePlanner`	Path planner for UAV space coverage (R2023a 以降)
`uavCoverageSpace`	2D coverage area for coverage planner (R2023a 以降)
`coverageDecomposition`	Decompose concave polygon into convex polygons (R2023a 以降)
`uavMission`	Mission data for UAV flight (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)
`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)
`minsnappolytraj`	Generate minimum snap trajectory through waypoints (R2021b 以降)
`minjerkpolytraj`	Generate minimum jerk trajectory through waypoints (R2021b 以降)

`controllerVFH3D`	Avoid obstacles using 3D vector field histogram (R2022b 以降)
`uavDubinsConnection`	Dubins path connection for UAV
`uavDubinsPathSegment`	Dubins path segment connecting two poses of UAV
`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)
`uavFormationMetrics`	UAV trajectory ensemble for formation performance metrics (R2024b 以降)

Obstacle Avoidance	Compute obstacle-free direction using range sensor data and target position (R2021b 以降)
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 3-D occupancy map by automatically adding the desired number of obstacles of varying dimensions at random positions on the map. You can then use the generated map for UAV motion planning using algorithms like RRT, RRT* and Hybrid A*.
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

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.