UNMANNED AERIAL VEHICLE AND METHOD FOR OBSTACLE COLLISION AVOIDANCE

摘要

The present invention relates to an unmanned aerial vehicle capable of automatically avoiding a dynamic obstacle and a method for avoiding the same. The unmanned aerial vehicle according to an embodiment of the present invention detects an obstacle according to a preset method, shapes a sphere including the detected obstacle, and includes at least one of the diameter or radius of the sphere and the center point of the sphere Using the obstacle detector generating the obstacle information and a plurality of sequentially inputted obstacle information, the movement path of the obstacle is estimated, the candidate aiming point is generated using the first obstacle information among the plurality of obstacle information, and the candidate aiming point It may include a collision avoidance processing unit that deletes a candidate aiming point corresponding to the middle movement path, and selects a selected aimpoint according to a preset method among the remaining aiming points.