How does the uavWaypointFollower object work?

Shubham Kalpande

2021 3 13

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I want to create a Dubins path for a fixedwing UAV to fly. In a MATLAB example, a set of wayoints is first obtained using a planner and then the points are interpolated. Using this interpolated path, the uavWaypointFollower outputs lookAheadPoints and desired heading for each point. I dont understand how and what exactly does this object does to give the said outputs.

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Jianxin Sun 2021-3-15

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Hi Shubham,

Please check the reference page in https://www.mathworks.com/help/uav/ref/uavwaypointfollower-system-object.html

[1] Park, Sanghyuk, John Deyst, and Jonathan How. "A New Nonlinear Guidance Logic for Trajectory Tracking." AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004.

Thanks,

Jianxin