Scenario Simulation

Author scenes, generate sensor data, test algorithms in simulated environments

Simulation using realistic unmanned aerial vehicle (UAV) scenarios and sensor models is a crucial part of testing UAV algorithms. UAV Toolbox provides two simulation environments in which to test these algorithms. Both environments have their uses, and one environment is not a replacement for the other.

In the cuboid simulation environment, vehicles and other platforms in the scenario are represented as simple box shapes, or for lidar applications, as polygon meshes. Use this environment to rapidly author scenarios or generate sensor data. Test controllers, tracking algorithms, and sensor fusion algorithms in both MATLAB^® and Simulink^®. To get started authoring a scenario, use the uavScenario object.
In the Unreal Engine^® simulation environment, scenarios are rendered using the Unreal Engine from Epic Games^®. Use this environment to visualize scenarios using more realistic graphics; to generate high-fidelity radar, camera, and lidar sensor data; and to test perception-in-the-loop systems. This environment is available in Simulink and runs on Windows^® only. To learn more, see Unreal Engine Simulation for Unmanned Aerial Vehicles.

Functions

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UAV Cuboid Scenarios

`uavScenario`	Generate UAV simulation scenario
`uavSensor`	Sensor for UAV scenario
`uavPlatform`	UAV platform for sensors in scenario
`extendedObjectMesh`	Mesh representation of extended object

Sensor Models

`gpsSensor`	GPS receiver simulation model
`insSensor`	Inertial navigation and GPS simulation model
`uavLidarPointCloudGenerator`	Generate point clouds from meshes

Transformation Trees

`transformTree`	Define coordinate frames and relative transformations
`getTransform`	Get relative transform between frames
`getGraph`	Graph object representing tree structure
`removeTransform`	Remove frame transform relative to its parent
`updateTransform`	Update frame transform relative to its parent

Blocks

UAV Guidance Model	Reduced-order model for UAV
UAV Animation	Animate UAV flight path using translations and rotations
Path Manager	Compute and execute a UAV autonomous mission
Simulation 3D UAV Vehicle	Place UAV vehicle in 3D visualization
Simulation 3D Scene Configuration	Scene configuration for 3D simulation environment
Simulation 3D Camera	Camera sensor model with lens in 3D simulation environment
Simulation 3D Lidar	Lidar sensor model in 3D simulation environment
Simulation 3D Fisheye Camera	Fisheye camera sensor model in 3D simulation environment

Scenes and Vehicle Dimensions

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Scenes

US City Block

US city block Unreal Engine environment

Vehicles

Quadrotor	Quadrotor vehicle dimensions
Fixed Wing Aircraft	Fixed wing aircraft dimensions

Topics

Simulation Basics

Unreal Engine Simulation for Unmanned Aerial Vehicles

Learn how to use unmanned aerial vehicle algorithms in Simulink and visualize their performance in a virtual environment using the Unreal Engine from Epic Games.

Unreal Engine Simulation Environment Requirements and Limitations

When simulating in the Unreal Engine environment, keep these software requirements, minimum hardware recommendations, and limitations in mind.

How Unreal Engine Simulation for UAVs Works

Learn about the co-simulation framework between Simulink and the Unreal Engine and how block execution order affects simulation.

Coordinate Systems for Unreal Engine Simulation in UAV Toolbox

Understand the world and UAV coordinate systems when simulating in the Unreal Engine environment.

Simulation with Sensors

Choose a Sensor for Unreal Engine Simulation

Decide which camera, or lidar sensors to use during 3D simulation with the Unreal Engine.

Simulate Simple Flight Scenario and Sensor in Unreal Engine Environment

UAV Toolbox™ provides blocks for visualizing sensors in a simulation environment that uses the Unreal Engine® from Epic Games®.

Depth and Semantic Segmentation Visualization Using Unreal Engine Simulation

This example shows how to visualize depth and semantic segmentation data captured from a camera sensor in a simulation environment.

Scene Customization

Customize Unreal Engine Scenes for UAVs

Customize Unreal Engine scenes for UAV flight applications.

STEP 1: Install Support Package for Customizing Scenes
STEP 2: Customize Unreal Engine Scenes Using Simulink and Unreal Editor
STEP 3: Package Custom Scenes into Executable

Apply Semantic Segmentation Labels to Custom Scenes

Apply labels to objects in a scene so that you can obtain semantic segmentation data from a camera sensor.

Featured Examples

UAV Scenario Tutorial

Create a scenario to simulate unmanned aerial vechicle (UAV) flights between a set of buildings. The example demonstates updating the UAV pose in open-loop simulations. Use the UAV scenario to visualize the UAV flight and generate simulated point cloud sensor readings.

Open Live Script

UAV Package Delivery

Through incremental design iterations how to implement a small multicopter simulation to takeoff, fly, and land at a different location in a city environment.

Open Live Script

UAV Toolbox Documentation

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