As the model runs, the aircraft attempts to fly in a straight path between buildings to a drop site and avoids obstacles along the way. A scope appears that shows the closest point to a buidling in the cuboid environment. To modify the model configuration, click the Obstacle Avoidance shortcut. To avoid obstacles in the environment, the model must use the available sensor data as the UAV flies the mission in the environment.
As the model runs, a lidar point cloud image is displayed as the aircraft flies through the cuboid environment: The lidar sensor model generates readings based on the pose of the sensor and the obstacles in the environment.Ĭlick the Setting a Cuboid Scenario shortcut and Run the model. This example uses a uavLidarPointCloudGenerator object added to the UAV scenario with a uavSensor object. To safely fly the aircraft in this type of scenario, you need a sensor that provides information about the environment such as a lidar sensor to the model. Each shortcut sets up the required variables for the project. Use the Project Shortcuts to step through the example. Variables placed in the base workspace configure these variants without the need to modifiy the data dictionary. Additionally, the model uses Variant Subsystems (Simulink) to manage different configurations of the model. The model's design data is contained in a Simulink™ data dictionary in the data folder ( uavPackageDeliveryDataDict.sldd). Multirotor: Includes a low-fidelity and mid-fidelity multicopter mode, a flight controller including its guidance logic. On Board Computer: Used to implement algorithms meant to run in an on-board computer independent from the Autopilot. These produce Lidar readings from the environment as the aircraft flies through it.
Ground Control Station: Used to control and monitor the aircraft while in-flight.Įxternal Sensors - Lidar & Camera: Used to connect to previously-designed scenario or a Photorealistic simulation environment.
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