Generate Heading and Yaw Commands for Orbit Following in Simulink®

This example shows how to use the UAV Orbit Follower block to generate heading and yaw commands for orbiting a location of interest with a UAV.

NOTE: This example requires you to install the UAV Library for Robotics System Toolbox®. Call roboticsAddons to open the Add-ons Explorer and install the library.

Open the model. Click Open Live Script to get a copy of the Simulink® model.

This model illustrates the inputs and the outputs of the block. You must specify the current UAV pose as an [x;y;z;heading]. Also, give the orbit center location, orbit radius, turn direction, and lookahead distance on the path. The lookahead distance is important for tuning the path tracking.

open_system("uav_orbit_follower_ex1.slx")

Run the model to get the desired heading and yaw for following the orbit. These outputs can be used to generate commands for a UAV.