Scheduling method and movable apparatus

A scheduling method, comprising:

• Via a scheduling system, receiving a first path from a first movable apparatus, the first path being calculated by the first movable apparatus in response to detecting a physical factor that affects driving of the first movable apparatus on a global path for a task in a working area, wherein the first path enables the first movable apparatus to avoid being affected by the physical factor to continue to execute the task;
• Via the scheduling system, calculating whether the first path conflicts with a second path of each of second movable apparatuses in the working area;
• Via the scheduling system, determining, based on at least a calculated result, first information for controlling the first movable apparatus to drive;
• and
• Via the scheduling system, sending the first information to the first movable apparatus,
• Wherein via the scheduling system, determining, based on at least the calculated result, the first information for controlling the first movable apparatus to drive further comprises:
• Determining whether the calculated result is a conflict;
• and
• In response to determining that the calculated result is a conflict:
• Via the scheduling system, calculating a third path and a control timing sequence of the third path, wherein the third path does not conflict with the second path of each of the second movable apparatuses in temporal and spatial dimensions and enables the first movable apparatus to avoid being affected by the Physical factor and return to the global path to continue to execute the task;
• and
• Determining that the first information includes the third path and the control timing sequence, and controlling the first movable apparatus to travel on the third path;
• or
• Determining that the first information includes the third path, the control timing sequence, and a message rejecting the first path, and controlling the first movable apparatus;
• and
• Wherein when the calculated result is no conflict, the first information is a message allowing the first movable apparatus to use the first path, and the first movable apparatus is configured to travel on the first path when the calculated result is no conflict.