OBJECT AVOIDANCE
Strategies and algorithms for autonomous obstacle avoidance. From simple "Stop at Fence" logic to complex BendyRuler and Dijkstra path planning.
Object Avoidance
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...
Simple Avoidance (Stop & Slide)
Simple Avoidance is the most basic form of collision prevention, used primarily in pilot-controlled modes (Loiter, AltHold, PosHold). It does not p...
The BendyRuler Algorithm
BendyRuler is ArduPilot's local path planner for complex environments. Unlike "Simple Avoidance" which just stops or slides, BendyRuler actively se...
Dijkstra Path Planning
While BendyRuler is great for local, reactive avoidance, it can get stuck in "cul-de-sacs" (U-shaped obstacles). **Dijkstra's Algorithm** solves th...
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...