Motion Planning

Plan flight trajectories and poses for UAV missions

Generate flight trajectories with constraints and cost optimization. Perform obstacle avoidance for UAV missions. Import trajectories into 3D simulation environment.

Functions

`minsnappolytraj`	Generate minimum snap trajectory through waypoints (Since R2021b)
`minjerkpolytraj`	Generate minimum jerk trajectory through waypoints (Since R2021b)

Objects

`controllerVFH3D`	Avoid obstacles using 3D vector field histogram (Since R2022b)
`uavDubinsConnection`	Dubins path connection for UAV
`uavDubinsPathSegment`	Dubins path segment connecting two poses of UAV
`waypointTrajectory`	Waypoint trajectory generator (Since R2020b)
`polynomialTrajectory`	Piecewise-polynomial trajectory generator (Since R2023a)
`uavFormationMetrics`	UAV trajectory ensemble for formation performance metrics (Since R2024b)

Blocks

Obstacle Avoidance	Compute obstacle-free direction using range sensor data and target position (Since R2021b)
Read UAV Trajectory	Generate translation and rotation samples from UAV trajectory (Since R2024b)

Topics

Generate Random 3-D Occupancy Map for UAV Motion Planning
This example shows how to generate a random 3-D 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 real-world trajectory in UAV Scenario and visualize trajectory in 3D environment using Cesium
Simulate Flight Plan in Real-World Location Using Cesium
simulate a flight plan created with QGroundControl in 3D environment using Cesium

Featured Examples

UAV Obstacle Avoidance in Simulink

Simulate waypoint following mission with obstacles using the 3D VFH+ algorithm to compute obstacle-free direction.

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Optimally Survey and Customize Coverage of Region of Interest

Plan and customize coverage path for a UAV to survey a geographical region.

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Motion Planning with RRT for Fixed-Wing UAV

Plan the 3D motion of a fixed-wing UAV using the rapidly exploring random tree (RRT) algorithm given a start and goal pose.

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Plan Minimum Snap Trajectory for Quadrotor

Plan a 3D minimum snap trajectory for a multirotor UAV from a start to a goal pose by using the RRT* path planner.

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Tune 3D Vector Field Histogram Controller for Obstacle Avoidance

Tune the controllerVFH3D System object™ to navigate a multirotor UAV in an obstacle environment using a lidar sensor.

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Onboard Computer Path Planning Interface for PX4 SITL Deployable on NVIDIA Jetson

Demonstrates enabling and interfacing onboard computer path planning with PX4® Software-in-the-Loop (SITL).

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Avoid Moving Obstacles Based on Radar Detections

Avoid collision with moving obstacles based on the velocity obstacle concept by using radar detections.

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