Fig. 3: Functional tests of the assisted obstacle avoidance function in non-operational scenarios.

a Assisted obstacle avoidance flight in a narrow environment. In a1, the gray curve represents the quadrotor’s flight trajectory, which is about 99.46 m long. The green box represents the fine nets, and the orange box represents a scaffold with thin rods. In a2, the distance between the quadrotor’s center and the nearest obstacles is greater than the quadrotor’s size during the flight. b The third person view of the assisted obstacle avoidance flight in dynamic environment. In b1, as the personnel approaches the quadrotor, the quadrotor moves away from the personnel to avoid collisions, despite adverse joystick commands. In b2, as the personnel approaches the quadrotor, the distance between the quadrotor’s center and the nearest obstacles remains constantly greater than the quadrotor’s size throughout the flight.