Fig. 3

Improvement of the test field based on the opinions of manufacturers and users; (a) The primary structure of the test field, (b) Putting colored tape at random on its obstacle wall to make it easy to observe the vehicle movement from camera images, (c) Attaching plastic curtains to prevent autonomous UASs from planning a route where bypass the test fields to outside, (d) Changing plastic curtains to the net due to the unstable influence of the wind caused by the vehicle