UAV Tool box multiple goal points

Question

Kim Tae Kyeong 2021-5-24

0
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https://ww2.mathworks.cn/matlabcentral/answers/837943-uav-tool-box-multiple-goal-points

移动：Remo Pillat 2024-3-29

在 MATLAB Online 中打开

Hi,

I am using this UAV tool box to generate 3D dubin curves with multiple goal point.

It works for the single goal point, yet the goalPose (m * 4 )doesn't seem to work.

Even if i put multiple points for the goalPose, only goes for the first point and igonres the others.

connectionObj = uavDubinsConnection;
startPose=[700  400  300 0]
goalPose =[773.407 418.033 162 0;   
                 746.749 991.98 207 0;
                 370.463 82.6632 110 0;
                 410.42  705.672 127 0];
[pathSegObj,pathCosts] = connect(connectionObj,startPose, goalPose);
show(pathSegObj{1})
pathSegObj{1}

%% OUT PUT 
%% I want this GoalPose as to be 4*4 ==> I want the uav to go through 1st to the last goal points as I assigned above.
  uavDubinsPathSegment =>
           StartPose: [1×4 double]
            GoalPose: [1×4 double]  
     FlightPathAngle: 0.500000000000000
            AirSpeed: 10
    MinTurningRadius: 18.678446139922979
         HelixRadius: 0
         MotionTypes: {'R'  'L'  'S'  'L'}
       MotionLengths: [1×4 double]
              Length: 2.878444907248214e+02