Virtual wall mapping for aerial vehicle navigation

A system comprising:

• a flight controller comprising:
• a virtual wall behavior engine configured to:
• determine a first virtual wall;
• determine if a second virtual wall is located adjacent to the first virtual wall;
• determine a zone of deceleration for the first virtual wall comprising a distal section and a proximal section;
• and
• determine a second zone of deceleration for the second virtual wall comprising a second distal section and a second proximal section;
• a navigation engine configured to:
• determine a location and a velocity of an unmanned aerial vehicle (UAV), wherein the velocity includes a first component and a second component;
• and
• identify a state of the UAV in real time;
• and
• a distance evaluation engine configured to:
• determine a distance between the location of the UAV and a corner where the first virtual wall and the second virtual wall intersect;
• and
• change a rate of deceleration from a first deceleration rate to a second deceleration rate as the UAV approaches the corner based on the location and the velocity.

An electronic control system comprising:

• a flight controller in communication with an unmanned aerial vehicle (UAV) and that includes instructions regarding a location, a speed, and a trajectory of the UAV;
• an electronic speed controller in communication with one or more thrust motors of the UAV and configured to control a speed and a thrust of the one or more thrust motors;
• a sensor subsystem comprising a navigation engine to determine a location and orientation of the UAV;
• a virtual wall behavior engine configured to:
• determine a first virtual wall;
• determine if a second virtual wall is located adjacent to the first virtual wall;
• determine an intersection between the first virtual wall and the second virtual wall that form a corner;
• and
• determine a zone of deceleration comprising a distal section and a proximal section;
• and
• a power subsystem configured to manage power supplied to the one or more thrust motors so that a rate of deceleration is changed from a first deceleration rate to a second deceleration rate as the UAV approaches the corner.