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

16 次查看（过去 30 天）
Shubham Kalpande
Shubham Kalpande 2021-6-12
评论： burak ergocmen 2025-1-23
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?

请先登录，再回答此问题。

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
  2 个评论
Shubham Kalpande
Shubham Kalpande 2021-6-13
Yeah, but this requires start pose and goal pose. I want to connect a set of waypoints. How can I do that?
burak ergocmen
burak ergocmen 2025-1-23
with "interpolate" and "poses" in this page: https://www.mathworks.com/help/uav/ref/uavdubinspathsegment.interpolate.html

请先登录，再进行评论。

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, :))

类别

在 Help Center 和 File Exchange 中查找有关 UAV 的更多信息

标签

产品


版本

R2020b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by