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

Claim 8:
9. The method of claim 8, wherein the other costs are calculated by the following equations:, f
      ⁡
      (
      s
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     +
     
      g
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      (
      s
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     +
     
      h
      ⁡
      (
      s
      )
     
     +
     
      t
      ⁡
      (
      s
      )
     
     +
     
      c
      ⁡
      (
      s
      )
     
    
   
   
    
     (
     12
     )
    
   
  
 

 
  
   
    
     
      c
      ⁡
      (
      s
      )
     
     =
     
      
       λ
       c
      
      ⁢
      
       γ
       ⁡
       (
       s
       )
      
      ⁢
      
       
       
        l
        1
       
       
      
     
    
   
   
    
     (
     13
     )
    
   
  
 

 
  
   
    
     
      γ
      ⁡
      (
      s
      )
     
     =
     
      {
      
       
        
         
          
           ❘
           "\[LeftBracketingBar]"
          
          
           arcsin
           ⁡
           (
           
            
             
              l
              1
             
             ·
             n
            
            
             
             
              l
              1
             
             
            
           
           )
          
          
           ❘
           "\[RightBracketingBar]"
          
         
        
        
         
          penalize
          ⁢
             
          climbing
          ⁢
             
          and
          ⁢
             
          descending
         
        
       
       
        
         
          arcsin
          ⁡
          (
          
           
            
             l
             2
            
            ·
            n
           
           
            
            
             l
             1
            
            
           
          
          )
         
        
        
         
          penalize
          ⁢
             
          climbing
         
        
       
      
     
    
   
   
    
     (
     14
     )
    
   
  
 

 
  
   
    
     
      l
      1
     
     =
     
      s
      -
      
       parent
       (
       s
       )
      
     
    
   
   
    
     (
     15
     )
    
   
  
 

 
  
   
    
     n
     =
     
      [
      
       
        
         0
        
       
       
        
         0
        
       
       
        
         1
        
       
      
      ]
     
    
   
   
    
     (
     16
     )
    
   
  
 

wherein g(s) represents the length of the shortest path from start vertex parent(s) to vertex s, and thereby being an estimated start distance of vertex s; h(s) represents an estimated goal distance of vertex s; t(s) represents the traversal cost obtained from Eq. (8); c(s) represents other costs in addition to t(s) during operation of the autonomous flying robots.