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。

関数

`controllerVFH3D`	Avoid obstacles using 3D vector field histogram (R2022b 以降)
`uavDubinsConnection`	Dubins path connection for UAV (R2019b 以降)
`uavDubinsPathSegment`	Dubins path segment connecting two poses of UAV (R2019b 以降)
`minsnappolytraj`	Generate minimum snap trajectory through waypoints (R2021b 以降)
`minjerkpolytraj`	Generate minimum jerk trajectory through waypoints (R2021b 以降)
`waypointTrajectory`	ウェイポイント軌跡ジェネレーター (R2020b 以降)
`polynomialTrajectory`	Piecewise-polynomial trajectory generator (R2023a 以降)

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

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 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.