Movable Platform Sensing Orientation for Trajectory Coverage
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Solution Overview
Problem
Existing methods for controlling the sensing orientation of movable platforms, such as UAVs, fail to ensure that all trajectory points are within the sensing range, leading to reduced observation capabilities and increased collision risks, especially in complex environments.
Innovation Solution
A method and apparatus that adjust the sensing orientation of movable platforms based on their trajectory, ensuring that all reachable trajectory points are within the sensing range of the sensing apparatus, without relying on joystick guidance or target points, by determining a target sensing orientation that includes N consecutive trajectory points within the sensing range and adjusting the orientation accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the sensing orientation is controlled based on the velocity direction of the movable platform, then the control method is simple, but the sensing apparatus cannot observe the environment of upcoming trajectory segments
Solution Approach 1:
The patent calculates a target sensing orientation in advance that allows the sensing apparatus to observe upcoming trajectory segments before the platform reaches them. By determining the orientation based on future trajectory points rather than current velocity direction, the system performs preliminary observation action, enabling advance detection of environmental features and potential obstacles along the planned path.
2Device complexity
If the sensing apparatus observes only the current trajectory segment, then the device complexity is low, but the collision risk increases in complex environments
Solution Approach 1:
The system performs preliminary observation by orienting the sensing apparatus to cover upcoming trajectory segments. This advance observation capability allows the platform to detect obstacles and environmental features before reaching them, enabling proactive collision avoidance decisions rather than reactive responses.
Solution Approach 2:
The patent introduces a trajectory prediction module that acts as an intermediary between the current sensing state and future collision risks. This module calculates upcoming trajectory segments and uses them to determine the optimal sensing orientation, bridging the gap between current observations and future safety requirements.
3Reliability
If the sensing orientation is adjusted to include N consecutive trajectory points, then the observation coverage is maximized, but the orientation adjustment complexity increases
Solution Approach 1:
The patent changes the key parameter from velocity direction to target sensing orientation calculated based on upcoming trajectory points. By adjusting the orientation parameter to optimize coverage of N consecutive trajectory points, the system maximizes observation coverage while maintaining manageable control complexity through mathematical calculation rather than complex mechanical adjustments.
Data Source
AI summary
A method for controlling a movable platform includes obtaining a trajectory of the movable platform and controlling the movable platform to move along the trajectory, obtaining a reference sensing orientation of a sensing apparatus of the movable platform, and adjusting the sensing orientation of the sensing apparatus from the reference sensing orientation to a target sensing orientation. When a sensing orientation of the sensing apparatus is the reference sensing orientation, first one or more trajectory points between a current location of the movable platform and a first location are within a sensing range of the sensing apparatus, and second one or more trajectory points after the first location are outside the sensing range of the sensing apparatus. When the sensing orientation of the sensing apparatus is the target sensing orientation, the first one or more trajectory points and the second one or more trajectory points are within the sensing range.