US 11,669,987 B2
Obstacle avoidance during target tracking
Cong Zhao, Shenzhen (CN); Shaojie Shen, Shenzhen (CN); Jie Qian, Shenzhen (CN); Xuyang Feng, Shenzhen (CN); Minjian Pang, Shenzhen (CN); and Junfeng Yu, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Feb. 10, 2021, as Appl. No. 17/173,051.
Application 17/173,051 is a continuation of application No. 16/114,968, filed on Aug. 28, 2018, granted, now 10,929,999.
Application 16/114,968 is a continuation of application No. PCT/CN2016/074821, filed on Feb. 29, 2016.
Prior Publication US 2021/0256723 A1, Aug. 19, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/593 (2017.01); G06T 7/70 (2017.01); G06T 7/20 (2017.01); B64C 39/02 (2023.01)
CPC G06T 7/593 (2017.01) [G06T 7/20 (2013.01); G06T 7/70 (2017.01); B64C 39/024 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a movable object, comprising:
obtaining current location information of an obstacle while the movable object tracks a target;
determining, based on the current location information of the obstacle, whether the obstacle is located in a reactive region relative to the movable object; and
in response to determining that the obstacle is not located in the reactive region:
selecting, from multiple sets of candidate movement characteristics, an optimized set of candidate movement characteristics having an optimized route optimization score, wherein each set of candidate movement characteristics among the multiple sets of candidate movement characteristics corresponds to a route optimization score; 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.