{"id":1004,"date":"2026-06-21T15:06:12","date_gmt":"2026-06-21T07:06:12","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ardupilot-object-avoidance-lidar-proximity-farsi\/"},"modified":"2026-06-21T16:09:02","modified_gmt":"2026-06-21T08:09:02","slug":"ardupilot-object-avoidance-lidar-proximity-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ardupilot-object-avoidance-lidar-proximity-farsi\/","title":{"rendered":"\u0627\u062c\u062a\u0646\u0627\u0628 \u0627\u0632 \u0645\u0627\u0646\u0639 \u0628\u0627 Lidar \u0648 Proximity \u062f\u0631 ArduPilot (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nObject Avoidance Lidar ArduPilot\n<\/div>\n
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\u0627\u062c\u062a\u0646\u0627\u0628 \u0627\u0632 \u0645\u0627\u0646\u0639 \u0686\u0637\u0648\u0631 \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/h2>\n

\u0628\u0631\u0627\u06cc \u0627\u06cc\u0646\u06a9\u0647 \u067e\u0647\u067e\u0627\u062f \u06cc\u0627 \u0631\u0648\u0648\u0631 \u062e\u0648\u062f\u0634 \u0627\u0632 \u0628\u0631\u062e\u0648\u0631\u062f \u0628\u0627 \u0645\u0648\u0627\u0646\u0639 \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u06a9\u0646\u062f\u060c \u0628\u0647 \u06cc\u06a9 \u0633\u0646\u0633\u0648\u0631 Proximity<\/strong> \u0646\u06cc\u0627\u0632 \u062f\u0627\u0631\u062f \u06a9\u0647 \u0641\u0627\u0635\u0644\u0647 \u062a\u0627 \u0627\u0637\u0631\u0627\u0641 \u0631\u0627 \u0645\u06cc\u200c\u0633\u0646\u062c\u062f \u2014 \u0645\u062b\u0644 \u0644\u06cc\u062f\u0627\u0631 \u0686\u0631\u062e\u0627\u0646 RPLidar A1<\/strong> \u06a9\u0647 \u06f3\u06f6\u06f0 \u062f\u0631\u062c\u0647 \u0627\u0637\u0631\u0627\u0641 \u0631\u0627 \u0627\u0633\u06a9\u0646 \u0645\u06cc\u200c\u06a9\u0646\u062f. ArduPilot \u0627\u06cc\u0646 \u062f\u0627\u062f\u0647 \u0631\u0627 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f \u0648 \u062f\u0631 \u062d\u0627\u0644\u062a\u200c\u0647\u0627\u06cc \u0645\u0646\u0627\u0633\u0628\u060c \u062c\u0644\u0648\u06cc \u062d\u0631\u06a9\u062a \u0628\u0647 \u0633\u0645\u062a \u0645\u0627\u0646\u0639 \u0631\u0627 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f.<\/p>\n

\u062f\u0648 \u0631\u0627\u0647\u0628\u0631\u062f \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f: Simple Avoidance<\/strong> (\u0641\u0642\u0637 \u062a\u0648\u0642\u0641\/Slide \u0645\u0642\u0627\u0628\u0644 \u0645\u0627\u0646\u0639) \u0648 Path Planning<\/strong> \u0628\u0627 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645\u200c\u0647\u0627\u06cc BendyRuler<\/strong> \u0648 Dijkstra<\/strong> \u06a9\u0647 \u0645\u0633\u06cc\u0631 \u062f\u0648\u0631 \u0645\u0627\u0646\u0639 \u0631\u0627 \u067e\u06cc\u062f\u0627 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
\u0633\u0646\u0633\u0648\u0631<\/td>\nRPLidar A1\/A2 \u06cc\u0627 TF-Luna \u0622\u0631\u0627\u06cc\u0647\u200c\u0627\u06cc<\/td>\n<\/tr>\n
\u06af\u0631\u0648\u0647 \u067e\u0627\u0631\u0627\u0645\u062a\u0631<\/td>\nPRX*, AVOID*, OA*<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u06af\u0627\u0645 \u06f1: \u062a\u0646\u0638\u06cc\u0645 \u0633\u0646\u0633\u0648\u0631 Proximity<\/h2>\n
PRX1_TYPE = 5        (RPLidar A2\/A1)\nSERIALx_PROTOCOL = 11 (Lidar360 \u0631\u0648\u06cc \u067e\u0648\u0631\u062a \u0633\u0631\u06cc\u0627\u0644 \u0645\u062a\u0635\u0644)\nSERIALx_BAUD = 115     (115200)<\/code><\/pre>\n
\u06af\u0627\u0645 \u06f2: \u0641\u0639\u0627\u0644\u200c\u0633\u0627\u0632\u06cc Avoidance<\/h2>\n
AVOID_ENABLE = 7      (\u0647\u0645\u0647 \u0645\u0646\u0627\u0628\u0639)\nAVOID_MARGIN = 3      (\u0641\u0627\u0635\u0644\u0647 \u0627\u06cc\u0645\u0646 \u0628\u0647 \u0645\u062a\u0631)\nAVOID_BEHAVE = 0      (0=Slide \u06a9\u0646\u0627\u0631 \u0645\u0627\u0646\u0639\u060c 1=Stop \u062a\u0648\u0642\u0641)<\/code><\/pre>\n
\u06af\u0627\u0645 \u06f3: Path Planning (\u0627\u062e\u062a\u06cc\u0627\u0631\u06cc\u060c \u067e\u06cc\u0634\u0631\u0641\u062a\u0647)<\/h2>\n
OA_TYPE = 1   (BendyRuler) \u06cc\u0627 2 (Dijkstra)\nOA_MARGIN_MAX = 5\nOA_LOOKAHEAD = 15<\/code><\/pre>\n
\u0645\u0634\u0627\u0647\u062f\u0647 \u062f\u0631 Mission Planner<\/h2>\n
\u062f\u0631 \u0646\u0645\u0627\u06cc Proximity (\u0631\u0627\u062f\u0627\u0631) \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0645\u0648\u0627\u0646\u0639 \u0627\u0637\u0631\u0627\u0641 \u0631\u0627 \u0628\u0647\u200c\u0635\u0648\u0631\u062a \u0632\u0646\u062f\u0647 \u0628\u0628\u06cc\u0646\u06cc\u062f. \u0627\u06cc\u0646 \u0628\u0631\u0627\u06cc \u062a\u0633\u062a \u0648 \u0627\u0637\u0645\u06cc\u0646\u0627\u0646 \u0627\u0632 \u0627\u06cc\u0646\u06a9\u0647 \u0644\u06cc\u062f\u0627\u0631 \u062f\u0631\u0633\u062a \u062f\u0627\u062f\u0647 \u0645\u06cc\u200c\u062f\u0647\u062f \u0628\u0633\u06cc\u0627\u0631 \u0645\u0641\u06cc\u062f \u0627\u0633\u062a.<\/p>\n
\n\u062a\u0648\u062c\u0647:<\/strong> Avoidance \u0641\u0642\u0637 \u062f\u0631 \u062d\u0627\u0644\u062a\u200c\u0647\u0627\u06cc \u062f\u0627\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0642\u0639\u06cc\u062a (Loiter\u060c Auto\u060c Guided) \u0641\u0639\u0627\u0644 \u0627\u0633\u062a. \u062f\u0631 Stabilize \u0639\u0645\u0644 \u0646\u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u0628\u062a\u062f\u0627 \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0627\u0632 \u0628\u0627 \u0645\u0627\u0646\u0639 \u0646\u0631\u0645 (\u0645\u062b\u0644 \u06a9\u0627\u0631\u062a\u0646) \u062a\u0633\u062a \u06a9\u0646\u06cc\u062f.\n<\/div>\n
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