Is there a way to create a Dubins path given a set of waypoints?

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Shubham Kalpande
Shubham Kalpande 2021-6-12
回答： Jianxin Sun 2021-6-14
I want my UAV model to fly through a set of waypoints, is there any way I can decompose the path into dubins connections i.e straight line segments and circular arcs?

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回答（2 个）

Yiping Liu
Yiping Liu 2021-6-13
编辑：Walter Roberson 2021-6-13
Please check the example in the doc page below
https://www.mathworks.com/help/uav/ref/uavdubinsconnection.html
Jianxin Sun
Jianxin Sun 2021-6-14
The connect method of uavDubinsConnection can accept pairs of start and goal poses. Assume your waypoints are defined as a Nx4 matrix. Each row is one waypoint in [x, y, z, course angle] format. The following two lines should provide N-1 dubin's path connecting all your waypoints.
connector = uavDubinsConnection;
connector.connect(waypoints(1:end-1, :), waypoints(2:end, :))

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