connect

Connect poses with UAV Dubins connection path

Description

[pathSegObj,pathCost] = connect(connectionObj,start,goal) connects the start and goal poses using the specified uavDubinsConnection object. The path segment object with the lowest cost is returned.

example

[pathSegObj,pathCost] = connect(connectionObj,start,goal,'PathSegments','all') returns all possible path segments as a cell array with their associated costs.

Examples

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This example shows how to calculate all valid UAV Dubins path segment and connect poses using the uavDubinsConnection object.

Create a uavDubinsConnection object.

connectionObj = uavDubinsConnection;

Define start and goal poses as [x, y, z, headingAngle] vectors.

startPose = [0 0 0 0]; % [meters, meters, meters, radians]
goalPose = [0 0 20 pi];

Calculate all possible path segment and connect the poses.

[pathSegObj,pathCosts] = connect(connectionObj,startPose,goalPose,'PathSegments','all');

Check the validity of all the possible path segments and display the valid paths along with their motion type and path cost.

for i = 1:length(pathSegObj)
    if ~isnan(pathSegObj{i}.Length)
        figure
        show(pathSegObj{i})
        fprintf('Motion Type: %s\nPath Cost: %f\n',strjoin(pathSegObj{i}.MotionTypes),pathCosts(i));
    end 
end

Motion Type: L S L N
Path Cost: 214.332271

Motion Type: R S R N
Path Cost: 214.332271

Motion Type: R L R N
Path Cost: 138.373157

Motion Type: L R L N
Path Cost: 138.373157

Input Arguments

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Path connection type, specified as a uavDubinsConnection object. This object defines the parameters of the connection.

Initial pose of the UAV at the start of the path segment, specified as a four-element numeric vector or matrix [x, y, z, headingAngle].

x, y, and z specify the position in meters. headingAngle specifies the heading angle in radians. The heading angle is measured clockwise from north to east. Each row of the matrix corresponds to a different start pose.

The pose follows the north-east-down coordinate system.

The start and goal pose inputs can be any of these combinations:

  • Single start pose with single goal pose.

  • Multiple start poses with single goal pose.

  • Single start pose with multiple goal poses.

  • Multiple start poses with multiple goal poses.

Goal pose of the UAV at the end of the path segment, specified as a four-element numeric vector or matrix [x, y, z, headingAngle].

x, y, and z specify the position in meters. headingAngle specifies the heading angle in radians. The heading angle is measured clockwise from north to east. Each row of the matrix corresponds to a different goal pose.

The pose follows the north-east-down coordinate system.

The start and goal pose inputs can be any of these combinations:

  • Single start pose with single goal pose.

  • Multiple start poses with single goal pose.

  • Single start pose with multiple goal poses.

  • Multiple start poses with multiple goal poses.

Output Arguments

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Path segments, returned as a cell array of uavDubinsPathSegment objects. The type of object depends on the input connectionObj. The size of the cell array depends on whether you use single or multiple start and goal poses.

By default, the function returns the path with the lowest cost for each start and goal pose.

When calling the connect function using the 'PathSegments','all' name-value pair, the cell array contains all valid path segments between the specified start and goal poses.

Cost of path segments, returned either as a positive numeric scalar, vector, or matrix. Each element of the cost vector corresponds to a path segment in pathSegObj.

By default, the function returns the path with the lowest cost for each start and goal pose.

Introduced in R2019b