The collision avoidance problem for multicopters is solved based on the combination of geometrical constraints and kinematics equation through this paper. The method is proposed for solving the vehicle flight from the start position to a destination point with collision avoidance in both static and dynamic environment. First. a collision zone is determined by tangential lines from a c... https://www.spidertattooz.com/OPI-GelColor-Magnet-Tool-Mauvnetic-Poles-0-5-oz-p21159/