Method and apparatus for controlling movable platform, and movable platform and storage medium

A control apparatus of a movable platform comprising:

• one or more processors;
• and
• one or more memories storing one or more computer programs that, when executed by the one or more processors, cause the one or more processors to:
• obtain a trajectory of the movable platform and control the movable platform to move along the trajectory, the trajectory including a plurality of trajectory points;
• obtain a reference sensing orientation of a sensing apparatus of the movable platform, N trajectory points after a current location of the movable platform being within a sensing range of the sensing apparatus with the reference sensing orientation, and an (N+1)-th trajectory point after the current location of the movable platform being not within the sensing range of the sensing apparatus with the reference sensing orientation;
• and
• adjust the sensing orientation of the sensing apparatus from the reference sensing orientation to a target sensing orientation, M trajectory points after the current location of the movable platform being within a sensing range of the sensing apparatus with the target sensing orientation, and an (M+1)-th trajectory point after the current location of the movable platform being not within the sensing range of the sensing apparatus with the target sensing orientation, such that when the (M+1)-th trajectory point after the current location is within the sensing range of the sensing apparatus with a sensing orientation, the sensing range of the sensing apparatus with the sensing orientation at least one trajectory point from the current location to an M-th trajectory point after the current location is not within the sensing range of the sensing apparatus with the sensing orientation, and M is greater than N.

A method for controlling a movable platform comprising:

• obtaining a trajectory of the movable platform and controlling the movable platform to move along the trajectory;
• obtaining a reference sensing orientation of a sensing apparatus of the movable platform, wherein when a sensing orientation of the sensing apparatus is the reference sensing orientation, first one or more trajectory points between a current location of the movable platform and a first location are within a sensing range of the sensing apparatus, and second one or more trajectory points after the first location are outside the sensing range of the sensing apparatus;
• determining a target sensing orientation of the sensing apparatus, including:
• determining the reference sensing orientation of the sensing apparatus corresponding to N consecutive trajectory points, that the movable platform has not reached, on a segment of the trajectory starting from the current location according to locations of the N consecutive trajectory points, wherein when the sensing orientation of the sensing apparatus of the movable platform at the current location is the reference sensing orientation, the N consecutive trajectory points are within a characteristic sensing range of the sensing apparatus;
• determining, according to a location of an (N+1)-th trajectory point, whether the (N+1)-th trajectory point is within the characteristic sensing range of the sensing apparatus corresponding to the reference sensing orientation;
• in response to the (N+1)-th trajectory points being not within the characteristic sensing range of the sensing apparatus corresponding to the reference sensing orientation, determining a candidate sensing orientation corresponding to the (N+1)-th trajectory point according to the reference sensing orientation and the location of the (N+1)-th trajectory point, such that when the sensing orientation of the sensing apparatus of the movable platform at the current location is the candidate sensing orientation, the (N+1)-th trajectory point is in the characteristic sensing range of the sensing apparatus;
• and
• in response to the N consecutive trajectory points being partially within the characteristic sensing range of the sensing apparatus corresponding to the candidate sensing orientation, determining the target sensing orientation according to the reference sensing orientation;
• and
• adjusting the sensing orientation of the sensing apparatus from the reference sensing orientation to the target sensing orientation, wherein when the sensing orientation of the sensing apparatus is the target sensing orientation, the first one or more trajectory points and the second one or more trajectory points are within the sensing range of the sensing apparatus.