3D Personal Space Against Small Drone

Abstract

Unlike humans and ground robots, a drone moves not only horizontally but also vertically. Therefore, it is inappropriate to use existing 2D personal space. This paper investigated 3D personal space using a small drone in actual flight conditions. The drone flew toward a standing examinee from 15m away and the distance that one felt uncomfortable was measured. As a result, personal space of an altitude of 1m to 2.5m in the front, oblique front and lateral of the examinee was obtained. In the case of the front, the personal space became larger as the drone flew faster, and it disappeared at an altitude of 4.5m to 5.5m.