Dubins path connection for UAV
TheuavDubinsConnection
object holds information for computing auavDubinsPathSegment
路径段连接无人机的开始和目标姿势。
UAV Dubins路径段将两个姿势连接为东北坐标系中的一系列运动。
The motion options are:
直的
Left turn (counterclockwise)
右转(顺时针)
Helix left turn (counterclockwise)
Helix right turn (clockwise)
No motion
The turn direction is defined as viewed from the top of the UAV. Helical motions are used to ascend or descend.
使用此连接对象为无人机运动模型定义参数,包括最小转弯半径和路径类型的选项。要使用此连接类型之间生成位置之间的路径段,请调用connect
function.
connect |
Connect poses with UAV Dubins connection path |
[1] Owen, Mark, Randal W. Beard, and Timothy W. McLain. "Implementing Dubins Airplane Paths on Fixed-Wing UAVs."Handbook of Unmanned Aerial Vehicles,2015年,第1677–1701页。