Simulation using realistic unmanned aerial vehicle (UAV) scenarios and sensor models is a crucial part of testing UAV algorithms. UAV Toolbox provides two simulation environments in which to test these algorithms. Both environments have their uses, and one environment is not a replacement for the other.
In the cuboid simulation environment, vehicles and other platforms in the scenario are represented as simple box shapes, or for lidar applications, as polygon meshes. Use this environment to rapidly author scenarios or generate sensor data. Test controllers, tracking algorithms, and sensor fusion algorithms in both MATLAB® and Simulink®. To get started authoring a scenario, use the
In the Unreal Engine® simulation environment, scenarios are rendered using the Unreal Engine from Epic Games®. Use this environment to visualize scenarios using more realistic graphics; to generate high-fidelity radar, camera, and lidar sensor data; and to test perception-in-the-loop systems. This environment is available in Simulink and runs on Windows® only. To learn more, see Unreal Engine Simulation for Unmanned Aerial Vehicles.
|UAV Scenario Designer||Design UAV scenarios with terrain, platforms, and sensors|
UAV Cuboid Scenarios
|Generate UAV simulation scenario|
|Sensor for UAV scenario|
|UAV platform for sensors in scenario|
|Mesh representation of extended object|
|Mission data for UAV flight|
|Path planner for UAV space coverage|
|2D coverage area for coverage planner|
|Decompose concave polygon into convex polygons|
|Generate trajectory for multirotor UAV from mission|
|Multirotor UAV trajectory|
|Generate trajectory for fixed-wing UAV from mission|
|Fixed-wing UAV trajectory|
|Waypoint trajectory generator|
|Piecewise-polynomial trajectory generator|
|GPS receiver simulation model|
|Inertial navigation system and GNSS/GPS simulation model|
|Generate point clouds from meshes|
|Create sample implementation for UAV custom sensor interface|
|Custom UAV sensor interface|
|Define coordinate frames and relative transformations|
|Graph object representing tree structure|
|Get relative transform between frames|
|List all frame names and stored timestamps|
|Remove frame transform relative to its parent|
|Show transform tree|
|Update frame transform relative to its parent|
Unreal Engine Projects
|Interface to the Unreal Engine project|
|Access additional scenes from the server|
|Delete local maps downloaded from the server|
|Download maps from the server|
|List of locally available maps|
|List of maps available for download from the server|
|Copy support package files and plugins to specified folders|
|UAV Guidance Model||Reduced-order model for UAV|
|UAV Animation||Animate UAV flight path using translations and rotations|
|Path Manager||Compute and execute a UAV autonomous mission|
|GPS||Simulate GPS sensor readings with noise|
|INS||Simulate INS sensor|
|Simulation 3D UAV Vehicle||Place UAV vehicle in 3D visualization|
|Simulation 3D Scene Configuration||Scene configuration for 3D simulation environment|
|Simulation 3D Camera||Camera sensor model with lens in 3D simulation environment|
|Simulation 3D Lidar||Lidar sensor model in 3D simulation environment|
|Simulation 3D Fisheye Camera||Fisheye camera sensor model in 3D simulation environment|
|Simulation 3D Ultrasonic Sensor||Ultrasonic sensor model in 3D simulation environment|
|Video Send||Send video stream to remote hardware|
|UAV Scenario Configuration||Configure and simulate UAV scenarios|
|UAV Scenario Get Transform||Get transforms from UAV scenario platforms|
|UAV Scenario Lidar||Simulate lidar measurements based on meshes in scenario|
|UAV Scenario Motion Read||Read platform and sensor motions from UAV scenario simulation|
|UAV Scenario Motion Write||Update platform motion in UAV scenario simulation|
|UAV Scenario Scope||Visualize UAV scenario and lidar point clouds|
Scenes and Vehicle Dimensions
- Unreal Engine Simulation for Unmanned Aerial Vehicles
Learn how to use unmanned aerial vehicle algorithms in Simulink and visualize their performance in a virtual environment using the Unreal Engine from Epic Games.
- Unreal Engine Simulation Environment Requirements and Limitations
When simulating in the Unreal Engine environment, keep these software requirements, minimum hardware requirements, and limitations in mind.
- How Unreal Engine Simulation for UAVs Works
Learn about the co-simulation framework between Simulink and the Unreal Engine and how block execution order affects simulation.
- Coordinate Systems for Unreal Engine Simulation in UAV Toolbox
Understand the world and UAV coordinate systems when simulating in the Unreal Engine environment.
Simulation with Sensors
- Simulate UAV Mission in Urban Environment
This example shows how to create and simulate a UAV mission in an urban environment in MATLAB® and Simulink® using the
uavScenarioobjects, as well as OpenStreetMap® (OSM) data from Manhattan, New York.
- Simulate IMU Sensor Mounted on UAV
Create a sensor adaptor for an
imuSensorfrom Navigation Toolbox™ and gather readings for a simulated UAV flight scenario.
- Simulate Radar Sensor Mounted On UAV
The radar sensor enables a UAV to detect other vehicles in the airspace, so that the UAV can predict other vehicle motion and make decisions to ensure clearance from other vehicles.
- Choose a Sensor for Unreal Engine Simulation
Decide which camera, or lidar sensors to use during 3D simulation with the Unreal Engine.
- Simulate Simple Flight Scenario and Sensor in Unreal Engine Environment
Visualize sensors in a simulation environment that uses Unreal Engine® from Epic Games®.
- Depth and Semantic Segmentation Visualization Using Unreal Engine Simulation
This example shows how to visualize depth and semantic segmentation data captured from a camera sensor in a simulation environment.
- Stream Camera, Depth and Semantic Segmentation Data from Unreal Engine to NVIDIA Jetson
This example shows how to stream simulated camera, depth, and semantic segmentation label data from an Unreal Engine® scene to NVIDIA® Jetson hardware using the Video Send block in Simulink®.
- Customize Unreal Engine Scenes for UAVs
Customize Unreal Engine scenes for UAV flight applications.
- Apply Semantic Segmentation Labels to Custom Scenes
Apply labels to objects in a scene so that you can obtain semantic segmentation data from a camera sensor.
- Prepare Custom UAV Vehicle Mesh for the Unreal Editor
Create custom vehicle mesh for the Simulation 3D UAV Vehicle block.