An aerial vehicle is configured to calculate ranges to objects around the aerial vehicle when operating within indoor spaces, using a LIDAR sensor or another range sensor. The aerial vehicle calculates ranges within a plurality of sectors around the aerial vehicle and identifies a minimum distance measurement for each of the sectors. Sets of adjacent sectors having distance measurements above a threshold are identified, and bearings and minimum distance measurements of the sets of adjacent sectors are determined. When the aerial vehicle detects an object within a flight path, the aerial vehicle selects one of the sets of adjacent sectors based on the minimum distance measurements and executes a braking maneuver in a direction of the selected one of the sets of adjacent sectors.
Selecting paths for indoor obstacle avoidance by unmanned aerial vehicles
21.01.2025
Patent
Elektronische Ressource
Englisch
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