UAV Package Delivery Obstacle Avoidance issue
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Hi, I am encountering an issue when trying to test the obstacle avoidance algorithm on a different scenario. I am using QGC connection for the trajectory and the quadcopter simply does not avoid all the obstacles, but only some of them. I've changed the safety distance, but without success. On QGroundControl, the quadcopter appears to "want" to avoid the obstacle, but it still follows the trajectory towards the landing point (see image)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1270780/image.png)
I've tried to use a different obstacle but same thing happens - it avoided the red building, but went through the circular blue obstacle:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1270785/image.png)
The lidar seems to be working fine. I would appreciate some help. Also, if I understood correctly from other questions on this forum, the project is designed for only one waypoint (i.e. take-off to landing)?
Many thanks in advance.
Tudor
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Jianxin Sun
2023-1-24
Hi Tudor,
Here are a couple examples that might help you:
https://www.mathworks.com/help/uav/ug/uav-obstacle-avoidance-in-simulink.html shows how to setup a Simulink model that navigates through multiple waypoints while avoiding obstacles
https://www.mathworks.com/help/uav/ug/tune-3d-vector-field-histogram-controller-for-obstacle-avoidance-in-3d-scene.html shows how to tune the obstacle avoidance algorithm with the help from MATLAB visualization
Thanks,
Jianxin
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