Object Avoidance

ArduPilot supports several kinds of object avoidance. Avoidance of Airborne Vehicles (ADSB), of manned boats (AIS) and Object Avoidance (Object/Ground/Ceiling).

Supported types vary with vehicle (Plane only supports ADSB). Some kinds of avoidance require external hardware, such as ADSB receivers, AIS receivers or Rangefinders.

Avoidance Strategies

Various strategies are employed and vary depending on vehicle, mode, and/or object to be avoided. Re-routing, slide, stop, or failsafe style actions are the most common ones. See the particular Avoidance Feature below for details.

AIS Avoidance

A boat fitted with an AIS receiver feeds the positions of nearby manned vessels into the object avoidance database, so the path planners listed below route around them in the same way as any other obstacle. Note that AIS messages arrive infrequently, so a much longer OA_DB_EXPIRE is required than for other obstacle sources.

• Manned Boats (AIS)

Path Planning and Obstacle Avoidance Features

These methods are used for avoiding proximity sensor detected obstacles as well as GCS set fences.

Hardware Setup

• Proximity Sensors

• Rangefinders

• Realsense Depth Camera

Avoidance Types

• Simple Object Avoidance
• BendyRuler Path Planning Around Obstacles and Fences
• Dijkstra's Path Planning Around Fences
• Dijkstra's with BendyRuler Path Planning Around Obstacles and Fences