Object Avoidance with Dijkstra’s

Copter and Rover 4.0 (and higher) support Dijkstra’s for path planning around fences and stay-out zones. This well known algorithm internally builds up a list of “safe areas” calculated from the fence and stay-out zones and then finds the shortest path to the destination.

../_images/oa-dijkstras.png

Warning

Dijkstra’s does not support avoiding objects sensed with lidar or proximity sensors

Warning

Dijkstra’s does not support Spline Waypoints.

Configuration

  • OA_TYPE = 2 (Dijkstra). You may need to refresh parameters after changing this to see the parameters below.
  • OA_MARGIN_MAX : the distance (in meters) that the vehicle should stay away from the fences and stay-out zones

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