Peking University Shenzhen Graduate School;
Shenzhen 518055;
China;
School of EECS;
Peking University;
Beijing 100871;
China;
Beijing Engineering Technology Research Center of Virtual Simulation and Visualization(Peking University);
Beijing 100871;
China;
Unmanned aerial vehicle; Proportional-integral-derivative control algorithm; Orientation control; Position control; Grid; k-dimensional tree; Collision detection;