Method and apparatus for generating local motion based on machine learning

A method of generating a local motion for a mobile object, the method comprising:

• determining, by processing circuitry, a local window corresponding to a current position of the mobile object in a global area;
• inputting to a neural network, by the processing circuitry, input data including a local cost map indicating a probability of a collision with an obstacle in the local window, a local goal map indicating a local path in the local window between the current position and a local goal in the local window, and a current velocity of the mobile object;
• and
• determining, by the processing circuitry, a target velocity of the mobile object based on output data of the neural network in response to an input of the input data.

An apparatus for generating a local motion for a mobile object, the apparatus comprising:

• processing circuitry;
• and
• a memory comprising an instruction to be read by the processing circuitry,
• wherein when the instruction is executed by the processing circuitry, the processing circuitry is configured to,
• determine a local window corresponding to a current position of the mobile object in a global area;
• generate a local cost map indicating a probability of a collision of the mobile object with an obstacle in the local window;
• generate a local goal map indicating a local path in the local window between the current position and a local goal in the local window;
• and
• determine a target velocity of the mobile object based on output data of a neural network, the output data of the neural network based on an input of input data to the neural network, the input data including the local cost map, the local goal map, and a current velocity of the mobile object.