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Planning and Control

Guidance models and navigation, trajectory and waypoint following

Plan and execute UAV flights using guidance motion models for fixed-wing and multirotor UAVs. Fly predefined missions using waypoint and trajectory-following algorithms. For an example using an RRT path planner that plans and simulates a flight in a city setting, see Motion Planning with RRT for Fixed-Wing UAV.


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fixedwingGuidance model for fixed-wing UAVs
multirotorGuidance model for multirotor UAVs
controlControl commands for UAV
derivativeTime derivative of UAV states
environmentEnvironmental inputs for UAV
stateUAV state vector
uavWaypointFollowerFollow waypoints for UAV
uavOrbitFollowerOrbit location of interest using a UAV (Since R2019a)
uavPathManagerCompute and execute a UAV autonomous mission (Since R2020b)
controllerVFH3DAvoid obstacles using 3D vector field histogram (Since R2022b)
uavDubinsConnectionDubins path connection for UAV (Since R2019b)
uavDubinsPathSegmentDubins path segment connecting two poses of UAV (Since R2019b)
connectConnect poses with UAV Dubins connection path (Since R2019b)
interpolateInterpolate poses along UAV Dubins path segment (Since R2019b)


Orbit FollowerOrbit location of interest using UAV (Since R2019a)
Waypoint FollowerFollow waypoints for UAV
UAV Guidance ModelReduced-order model for UAV
UAV AnimationAnimate UAV flight path using translations and rotations
Path ManagerCompute and execute a UAV autonomous mission (Since R2020b)
Fixed-Wing UAV Point MassIntegrate fourth- or sixth-order point mass equations of motion in coordinated flight (Since R2021a)
Obstacle AvoidanceCompute obstacle-free direction using range sensor data and target position (Since R2021b)


VTOL Controller Template