• remote
• control
• assitance
• piloting
• detection
• avoidance
• obstacle

This thesis presents an obstacle compliance control system developed for a remotely piloted aerial vehicle in an outdoor environment.
The term compliance, in this thesis, refers to the fact that this system is not only an obstacle avoidance system but it assists the pilot during the maneuvers he wants to do. In fact, if the pilot wants to approach an obstacle this system allows him to do so and it assists the pilot braking and avoiding collisions.
In particular, this system uses only the distance measurements provided by a LiDar sensor.
In this paper will be described the software used, how the control system, provided from the supervisor, worked, the changes made to make it usable from a trained pilot and, lastly, some simulation tests conducted.