Is there a way to create a Dubins path given a set of waypoints?
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Shubham Kalpande on 12 Jun 2021
Answered: Jianxin Sun on 14 Jun 2021
I want my UAV model to fly through a set of waypoints, is there any way I can decompose the path into dubins connections i.e straight line segments and circular arcs?
Yiping Liu on 13 Jun 2021
Edited: Walter Roberson on 13 Jun 2021
Please check the example in the doc page below
Jianxin Sun on 14 Jun 2021
The connect method of uavDubinsConnection can accept pairs of start and goal poses. Assume your waypoints are defined as a Nx4 matrix. Each row is one waypoint in [x, y, z, course angle] format. The following two lines should provide N-1 dubin's path connecting all your waypoints.
connector = uavDubinsConnection;
connector.connect(waypoints(1:end-1, :), waypoints(2:end, :))
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