Patent ID: 11915599
Assignee: HANGZHOU ANTWORK NETWORK TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 7:
8. The method of claim 7, further comprising penalizing paths inducing unnecessary or excessive turns for the autonomous flying robots according to the following equations:, f
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     (
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     (
     11
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wherein Ø(s) represents a linear function of the turning angle between every two consecutive line segments of the path; λ is the linear weight which is tunable as a trade-off between path length and turning cost of the autonomous flying robots, and wherein assuming each turn is very close to a consecutive turn, if previous segment length ∥l1∥ is sufficiently short, it will be penalized, and wherein a decay factor γt is added to the calculation of the turning cost in the parent cell when there is/are consecutive turn(s).