| CPC G08G 5/0069 (2013.01) [B64U 10/13 (2023.01); G08G 5/0078 (2013.01); B64U 2101/70 (2023.01)] | 20 Claims |
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1. An unmanned aerial vehicle comprising:
one or more sensors, wherein the one or more sensors include a LIDAR sensor;
a plurality of propulsion motors, wherein each of the propulsion motors is configured to rotate a propeller at one or more rotational speeds;
one or more processors; and
one or more computer-readable media having computer-executable instructions stored on the one or more computer-readable media,
wherein the instructions, when executed by the one or more processors, cause the unmanned aerial vehicle to perform operations comprising:
detecting, based on sensor data generated by the one or more sensors, an object in a flight path of the unmanned aerial vehicle;
receiving, from the LIDAR sensor, data comprising a plurality of distance measurements, wherein each of the distance measurements is associated with an angle about a sensor axis, and wherein the sensor axis is parallel to a yaw axis of the unmanned aerial vehicle;
determining, based at least in part on the LIDAR data, a plurality of LIDAR bins, wherein each of the plurality of LIDAR bins is associated with one of a plurality of angular sectors, and wherein each of the plurality of LIDAR bins comprises a set of the distance measurements associated with angles about the sensor axis within one of the plurality of angular sectors;
determining, for each of the plurality of angular sectors, a minimum distance measurement of the set of the distance measurements within that one of the plurality of angular sectors;
defining a first set of the plurality of angular sectors, wherein each of the angular sectors of the first set is adjacent to another of the angular sectors of the first set, and wherein each of the angular sectors of the first set has a minimum distance measurement greater than a threshold; and
causing the unmanned aerial vehicle to decelerate in a direction associated with the first set of the plurality of angular sectors.
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