UAV Dubin's Path Simulation

This project was derived from my final project in ECE5330 - Unmanned Aircraft Systems. The project implements a Dubin's path manager for an unmanned aircraft, based on desired waypoints and several state/control variables.

Note that the Dubin's path logic and controls are located in mav_sim/chap11 and other logic, including path following, state updates, etc, are in the other chapter directories.

To see derivations and more information on this project, please see DubinsPath_Report.pdf.

A video of the simulation is also included in dubins_path_sim.avi.

Creating and activating the mav_venv Python virtual environment

These instructions assume the python virtual environment is located at the same level as the mav_sim folder and is named mav_venv, so make sure you are in the mav_sim_python directory.

To create the virtual environment, type the following command:

python -m venv mav_venv

You may need to replace python with python3 or python3.10.

Now activate the virtual environment with the following command.

Windows:
mav_venv\Scripts\activate

Ubuntu:
source mav_venv/bin/activate

Installing the mav_sim package

To install the mav_sim package, make sure you are in the mav_sim_python directory use the following command:

pip install -e .

Wait a few minutes for the installation to complete.

Running the Full Dubin's Path Manager

The Dubin's Path Manager test is located in dubins_path_sim.py. To run it, simply run the command:

python .\dubins_path_sim.py

The simulation window will pop up and the aircraft will begin flying the path specified.