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

Claim 11:
12. A computer-implemented method for planning an optimal three-dimensional path for autonomous flying robots to traverse from one location to the other in a geographical region and for controlling the autonomous flying robots to fly along the optimal three-dimensional path, including:
translating the geographical region into a three-dimensional environment, by a computer processor;
discretizing the three-dimensional environment into a graph comprising a plurality of three-dimensional cells or nodes, by the computer processor;
deriving a path between a first node and a last node in the graph to be traversed by the autonomous flying robots, by the computer processor;
assigning a weighting factor to each of the nodes, the weighting factor being associated with traversal cost of the autonomous flying robots in each of the nodes, and calculating the traversal cost of the autonomous flying robots from one node to the other along the path, by the computer processor;
checking line-of-sight between the first node and the last node of the path, by the computer processor;
adding other costs into an any-angle path planning algorithm and approximating thereof to generate a natural and smooth path compatible with vehicle dynamics of the autonomous flying robots in order to obtain the optimal three-dimensional path of the autonomous flying robots between two locations in the geographical region, by the computer processor, wherein the optimal three-dimensional path is stored in computer-readable storage media, wherein the other costs of the path include costs at least associated with turning costs of the autonomous flying robots between two consecutive segments within the path and involved in adjusting, meeting or overcoming horizontal turning angle, adjacent turning distance, and consecutive turning decay of the autonomous flying robots; and
controlling an objective autonomous flying robot to fly along the optimal three-dimensional path by the method.