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Motion Planning

Plan flight trajectories and poses for UAV missions

Generate flight trajectories with constraints and cost optimization. Perform obstacle avoidance for UAV missions. Import trajectories into 3D simulation environment.

Functions

uavCoveragePlannerPath planner for UAV space coverage (Since R2023a)
uavCoverageSpace2D coverage area for coverage planner (Since R2023a)
coverageDecompositionDecompose concave polygon into convex polygons (Since R2023a)
uavMissionMission data for UAV flight (Since R2022b)
multirotorMissionParserGenerate trajectory for multirotor UAV from mission (Since R2022b)
fixedwingMissionParserGenerate trajectory for fixed-wing UAV from mission (Since R2022b)
multirotorFlightTrajectoryMultirotor UAV trajectory (Since R2022b)
fixedwingFlightTrajectoryFixed-wing UAV trajectory (Since R2022b)
waypointTrajectoryWaypoint trajectory generator
polynomialTrajectoryPiecewise-polynomial trajectory generator (Since R2023a)
minsnappolytrajGenerate minimum snap trajectory through waypoints (Since R2021b)
minjerkpolytrajGenerate minimum jerk trajectory through waypoints (Since R2021b)

Objects

controllerVFH3DAvoid obstacles using 3D vector field histogram (Since R2022b)
uavDubinsConnectionDubins path connection for UAV
uavDubinsPathSegmentDubins path segment connecting two poses of UAV
waypointTrajectoryWaypoint trajectory generator (Since R2020b)
polynomialTrajectoryPiecewise-polynomial trajectory generator (Since R2023a)
uavFormationMetricsUAV trajectory ensemble for formation performance metrics (Since R2024b)

Blocks

Obstacle AvoidanceCompute obstacle-free direction using range sensor data and target position (Since R2021b)
Minimum Jerk Polynomial TrajectoryGenerate minimum jerk polynomial trajectories through multiple waypoints (Since R2022a)
Minimum Snap Polynomial TrajectoryGenerate minimum snap polynomial trajectories through multiple waypoints (Since R2022a)
Read UAV TrajectoryGenerate translation and rotation samples from UAV trajectory for 3D simulation (Since R2024b)

Topics

Featured Examples