Target-Tracking Obstacle Avoidance Using Reactive Region Control
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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 and disrupt surveillance or reconnaissance missions.
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 in a reactive or proactive manner to avoid collisions while maintaining target tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the movable object maintains strict target tracking, then tracking precision is improved, but collision risk with obstacles increases
Solution Approach 1:
The patent segments the spatial environment into distinct regions: a reactive region (closer to the movable object) and a non-reactive region (farther away). This segmentation allows different tracking strategies to be applied in different spatial zones, enabling the system to maintain high tracking precision in safe zones while implementing obstacle avoidance in critical zones, thus resolving the contradiction between tracking precision and collision risk.
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 modifies tracking parameters and movement behavior to avoid collision while maintaining target acquisition. This dynamic adaptation allows the system to balance tracking precision with collision avoidance throughout the operation.
2Object-affected harmful factors
If the movable object adjusts movement to avoid obstacles, then collision risk is reduced, but target tracking continuity is disrupted
Solution Approach 1:
The patent applies preliminary anti-action by proactively adjusting movement characteristics before the movable object enters the reactive region where collision risk is highest. By detecting obstacles in the non-reactive region and preemptively modifying the trajectory, the system prevents collision while minimizing disruption to target tracking. This preliminary adjustment allows the object to bypass obstacles smoothly without abrupt maneuvers that would disrupt tracking continuity.
3Object-affected harmful factors
If real-time obstacle detection is implemented, then collision avoidance capability is improved, but system complexity increases
Solution Approach 1:
The patent implements local quality by applying different levels of obstacle detection and response strategies to different spatial regions. The reactive region receives intensive real-time monitoring and complex avoidance maneuvers, while the non-reactive region uses simpler detection and prediction methods. This localized approach enables effective collision avoidance capability where needed while reducing overall system complexity by not uniformly applying high-complexity processing across all operational zones.
Data Source
AI summary
A method for controlling a movable object includes obtaining current location information of an obstacle while the movable object tracks a target, determining whether the obstacle is located in a reactive region relative to the movable object based on the current location information of the obstacle. In response to determining that the obstacle is located in the reactive region, the method further includes determining, based on the current location information of the obstacle, whether the obstacle is located in a first sub-region or a second sub-region of the reactive region, where an area of the second sub-region is smaller than an area of the first sub-region; in response to determining that the obstacle is located in the first sub-region, reducing an acceleration of the movable object; and in response to determining that the obstacle is located in the second sub-region, reducing a velocity of the movable object.