Target-Tracking Motion Control for Obstacle Avoidance
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Solution Overview
Problem
Existing systems lack effective methods for obstacle avoidance during target tracking, particularly for movable objects like UAVs, which can lead to collisions.
Innovation Solution
A method and system for controlling movable objects that involve obtaining current location information of obstacles, determining if the obstacle is within a reactive region, and adjusting movement characteristics accordingly to avoid collisions. This includes proactive adjustments to maintain a safe distance when obstacles are not immediately threatening.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the movable object maintains aggressive target tracking, then tracking precision is improved, but collision risk with obstacles increases
Solution Approach 1:
The patent segments the spatial environment into multiple regions (reactive region, proactive region, and other regions) based on distance from the movable object to the obstacle. This segmentation allows different tracking aggressiveness levels to be applied in different spatial zones, enabling high tracking precision when obstacles are far while preventing collisions when obstacles are near.
Solution Approach 2:
The patent dynamically adjusts the movable object's movement characteristics based on real-time obstacle detection and region classification. When an obstacle is detected in the reactive region, the system dynamically reduces tracking aggressiveness to avoid collision; when obstacles are in the proactive region or beyond, the system maintains or increases tracking precision. This dynamic adaptation resolves the contradiction between aggressive tracking and collision avoidance.
2Reliability
If the movable object performs reactive avoidance maneuvers, then collision risk is reduced, but tracking stability deteriorates
Solution Approach 1:
The patent implements preliminary anti-action by defining a proactive region beyond the reactive region. When obstacles are detected in the proactive region, the system performs preliminary avoidance maneuvers before the obstacle enters the reactive region. This proactive adjustment prevents the need for sudden reactive maneuvers, thereby maintaining tracking stability while still avoiding collisions.
Solution Approach 2:
The system takes preliminary action by adjusting movement characteristics in advance when obstacles are first detected in the proactive region. This early intervention allows smooth transition to avoidance trajectories without abrupt maneuvers, preserving tracking stability while ensuring collision avoidance when obstacles later enter the reactive region.
3Reliability
If the system continuously monitors obstacle location, then collision avoidance capability is improved, but computational load increases
Solution Approach 1:
The patent segments the monitoring task by defining distinct regions (reactive and proactive) with different monitoring intensities. The system continuously monitors obstacle location but only triggers complex avoidance computations when obstacles enter the proactive or reactive regions. This region-based segmentation reduces unnecessary computational load while maintaining collision avoidance capability.
Solution Approach 2:
The patent applies local quality by differentiating the level of computational processing required in different spatial zones. When obstacles are in the proactive region, the system performs moderate-level monitoring and planning. When obstacles enter the reactive region, the system intensifies computational efforts for immediate collision avoidance. This localized quality adjustment optimizes computational resource usage based on spatial context.
Data Source
AI summary
A method for controlling a movable object includes determining, based on current location information of an obstacle, whether the obstacle is located within a certain distance range from the movable object, and in response to determining that the obstacle is located within the certain distance range from the movable object: determining, based on the current location information of the obstacle, whether the obstacle meets a first distance criterion or a second distance criterion, to obtain a determination result, and performing a first adjustment or a second adjustment on one or more movement characteristics of the movable object based on the determination result. The first adjustment is different from the second adjustment. One of the first adjustment and the second adjustment includes changing a movement direction of the movable object from a first direction to a second direction. The first direction is opposite to the second direction.