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

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Shubham Kalpande
Shubham Kalpande on 12 Jun 2021
Answered: Jianxin Sun on 14 Jun 2021
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?

Answers (2)

Yiping Liu
Yiping Liu on 13 Jun 2021
Edited: Walter Roberson on 13 Jun 2021
Please check the example in the doc page below
  1 Comment
Shubham Kalpande
Shubham Kalpande on 13 Jun 2021
Yeah, but this requires start pose and goal pose. I want to connect a set of waypoints. How can I do that?

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Jianxin Sun
Jianxin Sun on 14 Jun 2021
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, :))

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