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.
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