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Title:
CONTROL METHOD AND APPARATUS FOR MOVABLE PLATFORM, MOVABLE PLATFORM AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/189214
Kind Code:
A1
Abstract:
A control method and apparatus for a movable platform, the movable platform and a storage medium. In the embodiments of the present application: the amount of joysticks used for controlling the movable platform is obtained; predicted trajectory information of the movable platform is determined according to the amount of joysticks, and an objective function is established at least partially according to the predicted trajectory information and information of obstacles in an environment in which the movable platform is located; and the objective function is minimized so as to determine a target trajectory along which the movable platform bypasses the obstacles. Since the minimized objective function has more solution space, a detour trajectory that bypasses the obstacles, i.e. the target trajectory, may be selected from among an infinite number of candidate trajectories. Compared to the use of a motion primitive-based method in which the detour trajectory by which the obstacles are bypassed may only be selected from among a limited number of candidate trajectories, when the movable platform is in an environment that has dense obstacles, the possibility of the movable platform planning the detour trajectory may be increased, the frequent braking of the movable platform during the process of bypassing the obstacles is prevented, and the user experience is improved.

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Inventors:
YAN JIANG (CN)
ZHANG LITIAN (CN)
Application Number:
PCT/CN2020/080748
Publication Date:
September 30, 2021
Filing Date:
March 23, 2020
Export Citation:
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Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
G05D1/10
Foreign References:
CN108334103A2018-07-27
CN110632941A2019-12-31
CN109116867A2019-01-01
CN107368095A2017-11-21
US10679509B12020-06-09
Attorney, Agent or Firm:
LEADER PATENT & TRADEMARK FIRM (CN)
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