모션 계획

UAV 임무, 비행 궤적 및 자세 계획, 장애물 회피 수행

제약 조건과 비용 최적화가 적용된 비행 궤적을 생성합니다. UAV 임무를 위해 장애물 회피를 수행합니다. 궤적을 3차원 시뮬레이션 환경으로 가져옵니다.

객체

`multirotorFlightTrajectory`	Multirotor UAV trajectory (R2022b 이후)
`fixedwingFlightTrajectory`	Fixed-wing UAV trajectory (R2022b 이후)
`waypointTrajectory`	Waypoint trajectory generator
`polynomialTrajectory`	Piecewise-polynomial trajectory generator (R2023a 이후)
`uavDubinsConnection`	Dubins path connection for UAV
`uavDubinsPathSegment`	Dubins path segment connecting two poses of UAV

controllerVFH3D Avoid obstacles using 3D vector field histogram (R2022b 이후)

`uavCoveragePlanner`	Path planner for UAV space coverage (R2023a 이후)
`uavCoverageSpace`	2D coverage area for coverage planner (R2023a 이후)

`uavMission`	UAV mission data (R2022b 이후)
`multirotorMissionParser`	Generate trajectory for multirotor UAV from mission (R2022b 이후)
`fixedwingMissionParser`	Generate trajectory for fixed-wing UAV from mission (R2022b 이후)

`minsnappolytraj`	웨이포인트를 통과하는 최소 스냅 궤적 생성 (R2021b 이후)
`minjerkpolytraj`	웨이포인트를 통과하는 최소 저크 궤적 생성 (R2021b 이후)

coverageDecomposition Decompose concave polygon into convex polygons (R2023a 이후)

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

Simulate UAV Mission in Urban Environment
Simulate a UAV mission in an urban environment using UAV scenario and OpenStreetMap® data of Manhattan, New York.
Generate Random 3-D Occupancy Map for UAV Motion Planning
This example shows how to generate a random 3D occupancy map by automatically adding the desired number of obstacles of varying dimensions at random positions on the map.
Simulate UAV Scenario Trajectory in Unreal Engine Environment
Design a flight trajectory in a UAV scenario, and simulate the trajectory in a 3D environment using Unreal Engine^®.
Design Real-World Trajectory in UAV Scenario and Visualize with Cesium
Design a real-world trajectory in a UAV scenario, and visualize the trajectory in a 3D environment using Cesium.
Simulate Flight Plan in Real-World Location Using Cesium
Simulate a flight plan created with QGroundControl in a 3D environment using Cesium.