Aspects may provide navigation assistance to guide a robotic vehicle through a course defined by a plurality of gates each including a fiducial marker that encodes a location, an ordering, and a pose of the corresponding gate. In some implementations, an optimal trajectory may be generated through the course and used to determine whether to provide navigation assistance to the robotic vehicle. The optimal trajectory may include a reference path that extends through openings formed in center portions of the gates, and may be used to create a virtual tunnel indicating a maximum distance that the robotic vehicle may deviate from various points along the reference path. If the robotic vehicle deviates from the optimal trajectory by more than the distance while traversing the course, navigation assistance may be provided to the robotic vehicle.
TRAJECTORY DETERMINATION IN A DRONE RACE
2019-11-21
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A63H Spielzeuge, z.B. Kreisel, Puppen, Reifen, Baukästen , TOYS, e.g. TOPS, DOLLS, HOOPS, BUILDING BLOCKS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |