Orbit Follower
Orbit location of interest using UAV
Libraries:
UAV Toolbox /
Algorithms
Description
The Orbit Follower block generates course and yaw controls for following a circular orbit around a location of interest based on the current pose of the unmanned aerial vehicle (UAV). Select a UAV type of fixed-wing or multirotor UAVs. You can specify any orbit center location, orbit radius, and turn direction. A lookahead distance, LookaheadDistance, is used for tuning the path tracking and generating the LookaheadPoint output.
Examples
Generate Course and Yaw Commands for Orbit Following in Simulink®
Use the UAV Orbit Follower block to generate course and yaw commands for orbiting a location of interest with a UAV.
Ports
Input
Pose — Current UAV pose
[x y z course]
vector
Current UAV pose, specified as an [x y z course]
vector.
[x y z]
is the position of the UAV in NED coordinates
(north-east-down) specified in meters. course
is the angle between
ground velocity and north direction in radians per second.
Example:
[1,1,-10,pi/4]
Data Types: single
| double
Center — Center of orbit
[x y z]
vector
Center of orbit, specified as an [x y z]
vector. [x y
z]
is the orbit center position in NED coordinates (north-east-down)
specified in meters.
Example:
[5,5,-10]
Data Types: single
| double
Radius — Radius of orbit
positive scalar
Radius of orbit, specified as a positive scalar in meters.
Example:
5
Data Types: single
| double
TurnDirection — Direction of orbit
scalar
Direction of orbit, specified as a scalar. Positive values indicate a clockwise
turn as viewed from above. Negative values indicate a counter-clockwise turn. A value
of 0
automatically determines the value based on the input to
Pose.
Example:
-1
Data Types: single
| double
LookaheadDistance — Lookahead distance for tracking orbit
positive scalar
Lookahead distance for tracking the orbit, specified as a positive scalar. Tuning this value helps adjust how tightly the UAV follows the orbit circle. Smaller values improve tracking, but can lead to oscillations in the path.
Example:
2
Data Types: single
| double
ResetNumTurns — Reset for counting turns
numeric signal
Reset for counting turns, specified as a numeric signal. Any rising signal triggers a reset of the NumTurns output.
Example:
2
Dependencies
To enable this input, select rising
for External
reset.
Data Types: single
| double
Output
LookaheadPoint — Lookahead point on path
[x y z]
position vector
Lookahead point on path, returned as an [x y z]
position vector
in meters.
Data Types: double
DesiredCourse — Desired course
numeric scalar
Desired course, returned as numeric scalar in radians in the range of
[-pi, pi]
. The UAV course is the angle of direction of the
velocity vector relative to north measured in radians. For fixed-wing type UAV, the
values of desired course and desired yaw are equal.
Data Types: double
DesiredYaw — Desired yaw
numeric scalar
Desired yaw, returned as numeric scalar in radians in the range of [-pi,
pi]
. The UAV yaw is the forward direction of the UAV (regardless of the
velocity vector) relative to north measured in radians. For fixed-wing type UAV, the
values of desired course and desired yaw are equal.
Data Types: double
OrbitRadiusFlag — Orbit radius flag
0
(default) | 1
Orbit radius flag, returned as 0
or 1
.
0
indicates orbit radius is not saturated, 1
indicates orbit radius is saturated to minimum orbit radius value specified.
Data Types: uint8
LookaheadDistFlag — Lookahead distance flag
0
(default) | 1
Lookahead distance flag, returned as 0
or 1
.
0
indicates lookahead distance is not saturated,
1
indicates lookahead distance is saturated to minimum lookahead
distance value specified.
Data Types: uint8
CrossTrackError — Cross track error from UAV position to path
positive numeric scalar
Cross track error from UAV position to path, returned as a positive numeric scalar in meters. The error measures the perpendicular distance from the UAV position to the closest point on the path.
Dependencies
This port is only visible if Show CrossTrackError output port is checked.
Data Types: double
NumTurns — Number of times the UAV has completed the orbit
numeric scalar
Number of times the UAV has completed the orbit, returned as a numeric scalar. As the UAV circles the center point, this value increases or decreases based on the specified Turn Direction. Decimal values indicate partial completion of a circle. If the UAV cross track error exceeds the lookahead distance, the number of turns is not updated.
NumTurns is reset whenever Center, Radius, or TurnDirection are changed. You can also use the ResetNumTurns input.
Dependencies
This port is only visible if Show NumTurns output port is checked.
Parameters
UAV type — Type of UAV
fixed-wing
(default) | multirotor
Type of UAV, specified as either fixed-wing
or
multirotor
.
This parameter is non-tunable.
Minimum orbit radius (m) — Minimum orbit radius
1
(default) | positive numeric scalar
Minimum orbit radius, specified as a positive numeric scalar in meters.
When input to the orbit Radius port is less than the minimum
orbit radius, the OrbitRadiusFlag is returned as
1
and the orbit radius value is specified as the value of minimum
orbit radius.
This parameter is non-tunable.
Minimum lookahead distance (m) — Minimum lookahead distance
0.1
(default) | positive numeric scalar
Minimum lookahead distance, specified as a positive numeric scalar in meters.
When input to the LookaheadDistance port is less than the
minimum lookahead distance, the LookaheadDistFlag is returned as
1
and the lookahead distance value is specified as the value of
minimum lookahead distance.
This parameter is non-tunable.
External reset — Reset trigger source
none
(default) | rising
Select rising
to enable the ResetNumTurns
block input.
This parameter is non-tunable.
Show CrossTrackError output port — Output cross track error
off
(default) | on
Output cross track error from the CrossTrackError port.
This parameter is non-tunable.
Show NumTurns output port — Output UAV waypoint status
off
(default) | on
Output UAV waypoint status from the Status port.
This parameter is non-tunable.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Version History
Introduced in R2019a
MATLAB 명령
다음 MATLAB 명령에 해당하는 링크를 클릭했습니다.
명령을 실행하려면 MATLAB 명령 창에 입력하십시오. 웹 브라우저는 MATLAB 명령을 지원하지 않습니다.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)