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