OBJECT AVOIDANCE
Strategies and algorithms for autonomous obstacle avoidance. From simple "Stop at Fence" logic to complex BendyRuler and Dijkstra path planning.
Object Avoidance
ADS-B Collision Avoidance
ADS-B (Automatic Dependent Surveillance–Broadcast) allows the drone to see manned aircraft. ArduPilot doesn't just display these on the GCS; it c...
Avoidance Architecture & Data Fusion
ArduPilot's avoidance system is a multi-layered stack that ingests raw sensor data (Lidar, Radar, Depth Cameras), fuses it into a unified "Boundary...
Dijkstra Path Planning
While [BendyRuler](/field-manual/object-avoidance/bendyruler-algorithm.html) is great for local, reactive avoidance, it can get stuck in "cul-de-sa...
Simple Avoidance (Stop & Slide)
Simple Avoidance is the most basic form of [collision](/field-manual/mavlink-interface/collision.html) prevention, used primarily in pilot-controll...
The BendyRuler Algorithm
BendyRuler is ArduPilot's local path planner for complex environments. Unlike "[Simple Avoidance](/field-manual/object-avoidance/simple-avoidance.h...