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UAV Algorithms

Guidance models and waypoint following for unmanned aerial vehicles (UAVs)

Unmanned aerial vehicles (UAVs) can be modeled and controlled using UAV Library for Robotics System Toolbox™ functions, objects, and blocks. You can simulate a reduced-order guidance model for fixed-wing and multirotor UAVs that approximates a closed-loop autopilot controller with a kinematic model. Generate control commands, UAV states, and environmental inputs using the given functions. A waypoint follower is also provided to execute flight missions based on pre-defined waypoints.


Using UAV Algorithms requires you to install the UAV Library for Robotics System Toolbox. To install add-ons, use roboticsAddons and select the desired add-on.


roboticsAddonsInstall add-ons for robotics
controlControl commands for UAV
derivativeTime derivative of UAV states
environmentEnvironmental inputs for UAV
stateUAV state vector
plotTransformsPlot 3-D transforms from translations and rotations


multirotorGuidance model for multirotor UAVs
fixedwingGuidance model for fixed-wing UAVs
uavWaypointFollowerFollow waypoints for UAV


UAV Guidance ModelReduced-order model for UAV
Waypoint FollowerFollow waypoints for UAV
UAV AnimationAnimate UAV flight path using translations and rotations


Approximate High Fidelity UAV model with UAV Guidance Model block

Simulation models often need different levels of fidelity during different development stages.

Tuning Waypoint Follower for Fixed-Wing UAV

This example designs a waypoint following controller for a fixed-wing unammned aerial vehicle (UAV) using the UAV Guidance Model and Waypoint Follower blocks from the UAV Library for Robotics System Toolbox.