Obstacle avoidance 3 (based on Voronoi ) obstacle detection with enhanced pitch alert

 

避障 Obstacle avoidance based on Voronoi

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Voronoi 安全走廊 

path with obstacle avoidance

Vonoroi diagram

safe corridor 

3d

collision avoidance

pitch

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voronoi 2d

Voronoi 3d (based on 2d navigation)

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