Motion Planning
Generate flight trajectories with constraints and cost optimization. Perform obstacle avoidance for UAV missions. Import trajectories into 3D simulation environment.
Functions
uavCoveragePlanner | Path planner for UAV space coverage (Since R2023a) |
uavCoverageSpace | 2D coverage area for coverage planner (Since R2023a) |
coverageDecomposition | Decompose concave polygon into convex polygons (Since R2023a) |
uavMission | Mission data for UAV flight (Since R2022b) |
multirotorMissionParser | Generate trajectory for multirotor UAV from mission (Since R2022b) |
fixedwingMissionParser | Generate trajectory for fixed-wing UAV from mission (Since R2022b) |
multirotorFlightTrajectory | Multirotor UAV trajectory (Since R2022b) |
fixedwingFlightTrajectory | Fixed-wing UAV trajectory (Since R2022b) |
waypointTrajectory | Waypoint trajectory generator |
polynomialTrajectory | Piecewise-polynomial trajectory generator (Since R2023a) |
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) |
| Minimum Jerk Polynomial Trajectory | Generate minimum jerk polynomial trajectories through multiple waypoints (Since R2022a) |
| Minimum Snap Polynomial Trajectory | Generate minimum snap polynomial trajectories through multiple waypoints (Since R2022a) |
| Read UAV Trajectory | Generate translation and rotation samples from UAV trajectory for 3D simulation (Since R2024b) |
Topics
- 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.
- 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
Featured Examples
UAV Obstacle Avoidance in Simulink
Simulate waypoint following mission with obstacles using the 3D VFH+ algorithm to compute obstacle-free direction.
Optimally Survey and Customize Coverage of Region of Interest
Plan and customize coverage path for a UAV to survey a geographical region.
Motion Planning with RRT for Fixed-Wing UAV
Plan the 3D motion of a fixed-wing UAV using the rapidly exploring random tree (RRT) algorithm given a start and goal pose.
Plan Minimum Snap Trajectory for Quadrotor
Plan a 3D minimum snap trajectory for a multirotor UAV from a start to a goal pose by using the RRT* path planner.
Tune 3D Vector Field Histogram Controller for Obstacle Avoidance
Tune the controllerVFH3D System object™ to navigate a multirotor UAV in an obstacle environment using a lidar sensor.
Onboard Computer Path Planning Interface for PX4 SITL Deployable on NVIDIA Jetson
Demonstrates enabling and interfacing onboard computer path planning with PX4® Software-in-the-Loop (SITL).
Avoid Moving Obstacles Based on Radar Detections
Avoid collision with moving obstacles based on the velocity obstacle concept by using radar detections.
