Path Manager
Compute and execute a UAV autonomous mission
- 库:
无人机工具箱 /算法
Description
路径管理器块通过在指定的任务点之间依次切换,计算无人机(UAV)的任务参数MissionDatainput port. TheMissionCmdinput port changes the execution order at runtime. The block supports both multirotor and fixed-wing UAV types.
端口
输入
Pose
- 当前无人机姿势
四元素柱向量
Current UAV pose, specified as a four-element column vector of[x;y;z;courseAngle]
.x,y, 和z是无人机在东北(NED)坐标中的当前位置。courseAnglespecifies the heading angle in radians in the range[-pi, pi]
.
Data Types:single
|double
MissionData
- 无人机任务数据
Uavpathmanagerbus
bus
无人机任务数据,指定为Uavpathmanagerbus
公共汽车。TheUavpathmanagerbus
巴士有三个公交元素模式
,位置
, 和params
.
You can use the持续的(Simulink)block to specify the mission data as ann-by-1 array of structures and set the output data type to巴士:uavpathmanagerbus
.n是任务点的数量。每个结构的字段是:
模式
- 任务点的模式,指定为1至6之间的8位未签名整数。位置
- 任务点的位置,指定为[x;y;z]
.x,y, 和z是以米为单位指定的东北(NED)坐标的位置。params
- 任务点的参数,指定为四元素列向量。
The values assigned to the fields, in turn, are assigned to their corresponding bus elements in theUavpathmanagerbus
公共汽车。
该表描述了模式
和the corresponding values for the位置
和params
fields in a mission point structure.
模式 |
位置 |
params |
模式描述 |
---|---|---|---|
uint8(1) |
[x;y;z] |
[P1;P2;P3;P4] |
Takeoff— Take off from the ground and travel toward the specified position |
uint8(2) |
[x;y;z] |
yaw— Yaw angle in radians in the range radius— Transition radius in meters |
航点— Navigate to waypoint |
uint8(3) |
x,y, 和zis the center of the circular orbit in NED coordinates specified in meters |
radius- 轨道的半径 turnDir— Turn direction, specified as one of these:
Numturns- 转弯数量 |
Orbit— Orbit along the circumference of a circle defined by the parameters |
uint8(4) |
[x;y;z] |
[P1;P2;P3;P4] |
Land- 登陆指定位置 |
uint8(5) |
发射位置在 |
[P1;P2;P3;P4] |
RTL— Return to launch position |
uint8(6) |
[x;y;z] |
P1,P2,P3, 和P4是用户指定的参数,对应于自定义任务点 |
风俗— Custom mission point |
不te
P1,P2,P3, 和P4是用户指定的参数。
例子:[struct('mode',uint8(1),'位置',[0; 0; 0; 100],'params',[0; 0; 0; 0; 0; 0])]]
Data Types:bus
iSmodedone
- 确定是否执行任务点
0
(default) |1
确定是否执行任务点,指定为0
(false
) or1
(真的
).
Data Types:Boolean
MissionCmd
— Command to change mission
uint8(0)
(default) | 8-bit unsigned integer between 0 and 3
Command to change mission at runtime, specified as an 8-bit unsigned integer between 0 and 3.
This table describes the possible mission commands.
任务命令 | Description |
---|---|
uint8(0) |
默认— Execute the mission from first to the last mission point in the sequence |
uint8(1) |
Hold- 持有当前任务点 Loiter around the current position for fixed-wing and hover at the current position for multirotor UAVs |
uint8(2) |
Repeat— Repeat the mission after reaching the last mission point |
uint8(3) |
RTL— Execute return to launch (RTL) mode AfterRTL, the mission resumes if the |
Data Types:uint8
Home
- 无人机家的位置
three-element column vector
UAV home location, specified as a three-element column vector of[x;y;z]
.x,y, 和z是以米为单位指定的东北(NED)坐标的位置。
Data Types:single
|double
Output
MissionParams
— UAV mission parameters
Uavpathmanagerbus
bus
无人机任务参数,返回为2 x-1类型的公共汽车阵列Uavpathmanagerbus
. The first element of the bus array is the current mission point, and the second element of the bus array is the previous mission point.
This table describes the output mission parameters depending on the mission mode.
Current Mission Mode | Output Mission Parameters | |||
---|---|---|---|---|
Mission Points | 模式 |
位置 |
params |
|
Takeoff |
First bus element: Current |
uint8(1) |
[x;y;z] |
[P1;P2;P3;P4] |
Second bus element: Previous |
|
|
|
|
航点 |
First bus element: Current |
uint8(2) |
[x;y;z] |
yaw— Yaw angle in radians in the range radius— Transition radius in meters |
Second bus element: Previous |
|
|
courseAngle- 前一个位置和当前位置之间的线段的角度,在范围内指定 |
|
Orbit |
First bus element: Current |
uint8(3) |
x,y, 和zis the center of the circular orbit in NED coordinates specified in meters |
radius- 轨道的半径 turnDir— Turn direction, specified as one of these:
Numturns- 转弯数量 |
Second bus element: Previous |
|
|
|
|
Land |
First bus element: Current |
uint8(4) |
[x;y;z] |
[P1;P2;P3;P4] |
Second bus element: Previous |
|
|
|
|
RTL |
First bus element: Current |
uint8(5) |
发射位置在 |
[P1;P2;P3;P4] |
Second bus element: Previous |
|
|
|
|
风俗 |
First bus element: Current |
uint8(6) |
[x;y;z] |
P1,P2,P3, 和P4是用户指定的参数,对应于自定义任务点 |
Second bus element: Previous |
|
|
|
不te
P1,P2,P3, 和P4是用户指定的参数。
At start of simulation, the previous mission point is set to theArmed模式.
模式 | 位置 | params |
---|---|---|
uint8(0) |
|
[-1; -1; -1; -1] |
Set the end mission point toRTL或者Land模式,否则任务点会自动设置为Hold模式.
This table describes the output mission parameters when the input to theMissionCmdinput port is set toHold模式.
UAV Type | Output Mission Parameters | |||
---|---|---|---|---|
Mission Points | 模式 |
位置 |
params |
|
Multirotor |
First bus element: Current |
uint8(7) |
[x;y;z] |
[-1; -1; -1; -1] |
Second bus element: Previous |
|
|
|
|
Fixed-Wing |
First bus element: Current |
uint8(7) |
x,y, 和zis the center of the circular orbit in NED coordinates specified in meters |
radius— Loiter radius is specified in the turnDir- 转向方向指定为 |
Second bus element: Previous |
|
|
|
Data Types:bus
Parameters
UAV type
— Type of UAV
多螺旋体
(default) |固定翼
Type of UAV, specified as either多螺旋体
或者固定翼
.
可调:不
Loiter radius
- 固定翼无人机的叶子半径
25 (default) | positive numeric scalar
固定翼无人机的叶半径,以米为正数字标量指定。
Dependencies:要启用此参数,请设置UAV type范围to固定翼
.
可调:不
数据类型
- 输入任务总线的数据类型
double
(default) |single
数据类型of the input mission bus, specified as eitherdouble
或者single
.
可调:不
Mission bus name
——输入任务名称总线
'UAVPathManagerBus'
(default)
Name of the input mission bus, specified as'UAVPathManagerBus'
.
可调:不
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Version History
See Also
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