How to perform Obstacle Avoidance simulation with multiple waypoints using UAV Package Delivery and QGroundControl?

10 views (last 30 days)
Hi everyone,
I am currently struggling to modify the UAV package delivery example project, such as the quadcopter would be able to perform a flight consisting in multiple waypoints while avoiding obstacles. I have tried for many hours to somehow combine the Full guidance Logic with the 3D Obstacle Avoidance guidance logic, but without success. I am currently trying to combine these two:
First, I tried taking the function "ComputeLPWaypoints" from normal Obstacle avoidance guidance and putting it in the full guidance to get GCSCommands, but it didn't give the bus signal required. Also, I have tried taking the Guidance Stateflow and put it in the OA guidance logic, but same result, nothing worked. I also have basic knowledge of Stateflow, so I could use that if it's easier/necessary. However, I don't know where to start.
The intention is to be able to fly a multiple waypoints mission (from QGroundControl) while avoiding obstacles. It all works just fine until I want to add more waypoints to the mission.
This is my last try so far (and the error that I got with it..):
Any help is very much appreciated.
Many thanks in advance.
Tudor
  1 Comment
Tudor-Stefan Tonca
Tudor-Stefan Tonca on 28 Jan 2023
Update: I tried working in the obstacl avoidance guidance logic (non 3D) for simplicity, until I have a solution that works. I figured out that this might be a good guidance model for the purpose discussed:
However, I still have an error. After using the bus creator block to create the bus signal, it still didn't run. I assume the function computeLPWaypoints doesn't provide the To and From waypoints required. How do I modify the obstacle avoidance algorithm such as it outputs the required parameters?
This is the code within the function:
function y = computeLPWaypoints(mission, Steer,UAVState)
%#codegen
Wp1 = [mission(1).position' mission(1).params(4)];
Wp2x = mission(2).position(1);
Wp2y = mission(2).position(2);
if(~isnan(Steer))
LAP_local = 6*[cos(Steer), sin(Steer)];
LAP = [ LAP_local(1)+ UAVState.x , LAP_local(2) + UAVState.y , -11 , Steer];
if(isnan(LAP(4)))
LAP(4) = 0;
end
y = [ Wp1(1,:) ; LAP ; Wp2x , Wp2y , 0 , Steer ];
DTD = sqrt( (LAP(1) - Wp2x)^2 + (LAP(2)-Wp2y)^2);
else
y = [ Wp1(1,:) ; UAVState.x , UAVState.y , UAVState.z-2 , 0 ; Wp2x , Wp2y , 0 , 0 ];
DTD = sqrt( (UAVState.x - Wp2x)^2 + (UAVState.y-Wp2y)^2);
end
if(DTD<5)
y = [ Wp1(1,:) ; Wp2x , Wp2y, -11 , 0 ; Wp2x , Wp2y , 0 , 0 ];
end
end

Sign in to comment.

Answers (1)

Jianxin Sun
Jianxin Sun on 8 Mar 2023
A similar question is answered in https://www.mathworks.com/matlabcentral/answers/1905201-uavpathmanagerbus-issue-in-the-3d-obstacle-avoidance-uav-package-delivery#answer_1162586?s_tid=prof_contriblnk

Categories

Find more on UAV in Help Center and File Exchange

Products


Release

R2022a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!