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Simulating unmanned aerial vehicle flight control and collision detection

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Figure

Fig. 1 Proportional-integral-derivative control schematic diagram
Fig. 4 The construction of hierarchical bounding box tree (take binary tree as example, the circle in the figure stands for primitive that make upthe collider)
Table 1 Proportional-integral-derivative parameter
Fig. 7 The structures of possible colliders. a Results adopted by traditional collision detection; b Results adopted by our algorithm
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