Security
Collision Avoidance
This is a base level safety mechanism of the drone that tells the drone to ignore user inputs if the user tries to fly at an obstacle that is less than 0.7m away as measured from the center of the drone. Obstacles are “seen” using the 2D scanning LIDAR. This means obstacles will only be avoided if they can be seen in the 2-dimensional plane that the LIDAR is currently at. Also, the drone will not allow the user to fly at an obstacle quickly. When the drone is within 2.2m of an obstacle, the drone will automatically slow itself down if the user tries to fly in the direction of the obstacle. The max velocity of the drone in the direction of the obstacle is proportional to the distance the drone is from the obstacle. This is a base level features that user will expect to see in a drone like this. However, our drone is special in that it can accomplish this in complete darkness without GPS.
Obstacle Avoidance
This is a toggleable feature on the drone. Say there is a pillar in front of the drone. This feature allows the user to push the sick forward and fly at the pillar and the drone will fly forward then choose a direction to go around it all while the user is only pushing forward. The drone will choose to go around it in the direction of the perceived largest opening. This is a good feature for users who want to fly manually but want to think as minimally as possible about the flying. With this, they can simply push forward and get to where they want to go. I find this feature annoying when I fly manually, and I turn it off. Those that are accustomed to flying drones will probably not like this feature.
Intelligent Information
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