UAV Target Tracking with Reactive and Proactive Obstacle Avoidance
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Solution Overview
Problem
Current systems for unmanned aerial vehicles (UAVs) lack effective methods for obstacle avoidance during target tracking, which can lead to collisions and inefficient navigation.
Innovation Solution
A method and system that utilize sensors to determine the location of obstacles relative to the UAV, adjusting movement characteristics in a proactive or reactive manner to maintain a safe distance or avoid collisions, respectively, while tracking targets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the movable object maintains a fixed trajectory to track the target, then tracking precision is improved, but collision risk with obstacles increases
Solution Approach 1:
The system dynamically adjusts the movement characteristics of the movable object based on real-time obstacle detection. When an obstacle is detected in the reactive region, the system modifies trajectory parameters to avoid collision while maintaining target tracking, thus resolving the contradiction between fixed trajectory precision and collision risk
Solution Approach 2:
The system continuously monitors obstacle locations and provides feedback to adjust movement characteristics. This closed-loop control allows the movable object to maintain tracking precision while adapting to dynamic obstacle conditions, preventing collisions without sacrificing tracking accuracy
2Reliability
If the movable object adjusts movement characteristics reactively to avoid obstacles, then collision avoidance is improved, but tracking continuity deteriorates
Solution Approach 1:
The system performs preliminary obstacle detection and classification into reactive and non-reactive regions. By identifying potential obstacles before they become immediate threats, the system can plan avoidance maneuvers that maintain tracking continuity, rather than making abrupt reactive adjustments that would disrupt tracking
3Reliability
If the movable object maintains a large safety distance from obstacles, then collision risk is reduced, but navigation efficiency deteriorates
Solution Approach 1:
The system applies different safety distance requirements to different spatial regions. Obstacles in the reactive region require larger safety margins, while obstacles in the non-reactive region allow for smaller distances. This localized approach to safety distance optimization reduces overall navigation time while maintaining adequate collision protection
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, and, in response to determining that the obstacle is not located in the reactive region, selecting an optimized set of candidate movement characteristics having an optimized route optimization score from multiple sets of candidate movement characteristics, and adjusting one or more movement characteristics of the movable object based on the optimized set of candidate movement characteristics such that a distance between the movable object and the obstacle is maintained at or beyond a predefined distance. Each set of candidate movement characteristics among the multiple sets of candidate movement characteristics corresponds to a route optimization score.