multirotorFlightTrajectory

Multirotor UAV trajectory

Since R2022b

Description

The multirotorFlightTrajectory object stores a multirotor UAV trajectory created by using piecewise 9^th degree polynomial to interpolate linear positions and the cubicpolytraj function to interpolate yaw angles between specified waypoints.

Creation

Syntax

T = multirotorFlightTrajectory(wpts,vels,accs,jerks,snaps,yaws,toas)

T = parse(parser,mission)

Description

T = multirotorFlightTrajectory(wpts,vels,accs,jerks,snaps,yaws,toas) creates a multirotorFlightTrajectory object, T using the specified waypoints wpts, velocities vels, accelerations accs, jerks jerks, snaps snaps, yaws yaws, and times of arrival toas. The input arguments set the Waypoints, Velocities, Accelerations, Jerks, Snaps, Yaws, and TimeOfArrival properties, respectively.

T = parse(parser,mission) parses a UAV mission mission using a multirotor mission parser parser to create a multirotorFlightTrajectory object.

Input Arguments

parser — UAV Mission parser

multirotorMissionParser object | fixedwingMissionParser object

UAV mission parser, specified as a multirotorMissionParser object or a fixedwingMissionParser object.

mission — UAV mission

uavMission object

UAV mission, specified as a uavMission object.

Properties

Waypoints — Waypoints

N-by-3 matrix

Waypoints, specified as an N-by-3 matrix in the local north-east-down (NED) reference frame, in meters. N is the total number of waypoints, and each row contains the xyz-coordinates of a waypoint, [X Y Z].

Example: [2 1 3; 3 2 4]

Velocities — Desired velocities

N-by-3 matrix

Desired velocities, specified as an N-by-3 matrix in the local north-east-down (NED) reference frame, in meters per second. N is the total number of waypoints, and each row is the desired velocity of the UAV at the corresponding waypoint, [dX dY dZ].

Example: [2 1 3; 3 2 4]

Accelerations — Desired accelerations

N-by-3 matrix

Desired accelerations, specified as an N-by-3 matrix in the local north-east-down (NED) reference frame, in m/s². N is the total number of waypoints, and each row is the desired acceleration at the corresponding waypoint, [d²X d²Y d²Z].

Example: [2 1 3; 3 2 4]

Jerks — Desired jerks

N-by-3 matrix

Desired jerks, specified as an N-by-3 matrix in the local north-east-down (NED) reference frame, in m/s³. N is the total number of waypoints, and each row is the desired jerk at the corresponding waypoint, [d³X d³Y d³Z].

Example: [2 1 3; 3 2 4]

Snaps — Desired snaps

N-by-3 matrix

Desired snaps, specified as an N-by-3 matrix in the local north-east-down (NED) reference frame, in m/s⁴. N is the total number of waypoints, and each row is the desired snap at the corresponding waypoint, [d⁴X d⁴Y d⁴Z].

Example: [2 1 3; 3 2 4]

Yaws — Desired yaw angles

N-element vector

Desired yaw angles, specified as an N-element vector in the local north-east-down (NED) reference frame, in degrees. N is the total number of waypoints, and each row is the desired yaw at the corresponding waypoint.

Example: [20;32;0;-20]

TimeOfArrival — Times of arrival

N-element column vector

Times of arrival, specified as an N-element column vector, in seconds. N is the total number of waypoints, and each row is the time of arrival at the corresponding waypoint.

The first and last elements of TimeOfArrival set the StartTime and EndTime properties, respectively.

Example: [2; 3; 5; 6]

StartTime — Start time of trajectory

Read-only: nonnegative numeric scalar

This property is read-only.

Start time of the trajectory, stored as a nonnegative numeric scalar, in seconds. The value of StartTime is the same as the value of the first element of the TimeOfArrival property.

EndTime — End time of trajectory

Read-only: nonnegative numeric scalar

This property is read-only.

End time of the trajectory, stored as a nonnegative numeric scalar, in seconds. The value of EndTime is the same as the value of the last element of the TimeOfArrival property.

Object Functions

copy	Copy flight trajectory
show	Visualize the UAV trajectory
query	Get UAV motion vectors at timestamps

Examples

Generate Flight Trajectory for UAV Mission

Create a UAV mission by using the flight plan stored in a .plan file and show the mission.

mission = uavMission(PlanFile="flight.plan");
show(mission);
axis equal

Create parsers for a multirotor UAV and a fixed-wing UAV.

mrmParser = multirotorMissionParser(TransitionRadius=2,TakeoffSpeed=2);
fwmParser = fixedwingMissionParser(TransitionRadius=15,TakeoffPitch=10);

Generate one flight trajectory using each parser.

mrmTraj = parse(mrmParser,mission);
fwmTraj = parse(fwmParser,mission);

Visualize the waypoints, flight trajectory and body frames for each UAV.

figure
show(mrmTraj,FrameSize=20,NumSamples=75);
title("Multirotor Flight Trajectory")
axis equal

figure
show(fwmTraj,FrameSize=20,NumSamples=75);
title("Fixed-Wing Flight Trajectory")
axis equal

Plot the mission, waypoints, flight trajectory and UAV body frames in the same plot for each UAV.

figure
show(mission);
hold on
show(mrmTraj,FrameSize=20,NumSamples=75);
hold off
title("Mission Using Multirotor Trajectory")
axis equal

show(mission);
hold on
show(fwmTraj,FrameSize=20,NumSamples=75);
hold off
title("Mission Using Fixed-Wing Trajectory")
axis equal

Create and Query UAV Flight Trajectory

Create a set of waypoints for both the multirotor and the fixed-wing UAV to follow.

wpts = [0  0  0;
        2  2 -2;
       10 10 -3;
       12 12 -6];
numwpts = size(wpts);

Specify additional trajectory information, such as desired velocities, accelerations, jerks, snaps, and yaws, as well as start time, an end time, and times of arrival.

vels = 2*ones(numwpts);
accs = ones(numwpts);
jerks = zeros(numwpts);
snaps = zeros(numwpts);
yaws = zeros(1,numwpts(1));
starttime = 0;
endtime = 8;
toas = linspace(starttime,endtime,numwpts(1));

Use the trajectory information to create the flight trajectories for the multirotor and the fixed-wing UAVs. Query and display the trajectories.

mrft = multirotorFlightTrajectory(wpts,vels,accs,jerks,snaps,yaws,toas);
fwft = fixedwingFlightTrajectory(wpts,vels,toas);
query(mrft,1:4)

ans = 4×16

    1.6184    1.6184    0.7520   -0.0243   -0.0243   -2.8758   -4.6045   -4.6045   -9.1669    0.9863   -0.1179    0.1147   -0.0137    0.0732   -0.0732   -0.0000
    1.0236    1.0236   -2.7807    0.5482    0.5482   -0.6198    3.9704    3.9704    8.6424    0.7429    0.5559   -0.2987   -0.2235   -1.3257    1.3257         0
    2.7277    2.7277   -1.2947    2.4069    2.4069    2.1026    1.7442    1.7442   -1.3857    0.9941    0.0770   -0.0761   -0.0059    0.1950   -0.1950         0
    6.4028    6.4028   -2.0972    4.4609    4.4609   -3.8447   -1.1875   -1.1875   -1.1875    0.9971   -0.0537    0.0534   -0.0029   -1.2364    1.2364   -0.0000

query(fwft,1:4)

ans = 4×16

    0.9453    0.9453   -0.3203    0.2422    0.2422   -1.8672   -0.7031   -0.7031   -1.5469    0.7098   -0.2450    0.5914    0.2940   -0.4683    0.4683    0.0000
    1.1875    1.1875   -2.1875    0.5938    0.5938   -1.0938    1.4063    1.4062    3.0938    0.8287   -0.1692    0.4085    0.3432    1.7750   -1.7750         0
    2.7813    2.7812   -1.6055    2.6563    2.6562    0.4414    1.6875    1.6875   -4.0078    0.9223    0.0224   -0.0540    0.3820   -0.7962    0.7962   -0.0000
    6.0000    6.0000   -2.5000    3.5000    3.5000   -1.5625   -0.0000   -0.0000    0.0000    0.9131   -0.0583    0.1407    0.3782   -0.0000   -0.0000    0.0000

Visualize both the multirotor flight trajectory and the fixed-wing flight trajectory.

ax = show(mrft,NumSamples=200);
title("Multirotor Flight Trajectory")
view([0 0])

show(fwft,NumSamples=50);
title("Fixed-Wing UAV Flight Trajectory")
view([0 0])

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2022b