Is there a way to create a Dubins path given a set of waypoints?

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?

Answer 1

[Yiping Liu]

Please check the example in the doc page below

https://www.mathworks.com/help/uav/ref/uavdubinsconnection.html

[Shubham Kalpande]

Yeah, but this requires start pose and goal pose. I want to connect a set of waypoints. How can I do that?

Answer 2

[Jianxin Sun]

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, :))