Autonomous tracking based on radius
Disclosed is a configuration of an autonomous vehicle for autonomously following a moving subject based on a radius of a virtual sphere surrounding the autonomous vehicle. The autonomous vehicle may be an unmanned ground vehicle or an unmanned aerial vehicle, which autonomously follows the subject (e.g., a device, a live entity, or any object) based on the virtual sphere. The radius of the virtual sphere may be dynamically configured according to a velocity of the autonomous vehicle or configurations of a camera coupled to the autonomous vehicle. Accordingly, the autonomous vehicle can follow the subject along a smooth trajectory, and capture images of abrupt movements of the subject in a cinematically pleasing manner.
1. A vehicle comprising:
a camera;
a controller configured to:
determine a virtual space around the vehicle based on the camera, and
determine a target position of the vehicle based on the virtual space;
a vehicle controller interface configured to move the vehicle towards the target position;
a target position generator configured to determine an updated target position and the target position and to determine an intersection between the updated target position and the target position; and
a radius tracking controller configured to determine a second intersection between a direction path relative to the target position, a subject position, and a surface of the virtual space.
2. The vehicle of claim 1 , further comprising:
a gimbal movably coupled to a housing of the vehicle so that the gimbal is capable of moving the camera relative to the vehicle.
3. The vehicle of claim 1 , further comprising:
thrust motors configured to move the vehicle; and
an electronic speed controller that interfaces with the thrust motors to control a speed of the vehicle.
4. The vehicle of claim 3 , wherein the electronic speed controller controls the thrust motors so that the vehicle is moved towards the target position.
5. The vehicle of claim 3 , further comprising:
a vehicle control interface module that is configured to determine a direction and a speed of the vehicle as the vehicle travels towards the target position.
6. A method comprising:
determining, with a controller, a virtual space around an unmanned aerial vehicle based on data from a camera;
determining, with the controller, a target position of the unmanned aerial vehicle based on the virtual space;
moving the unmanned aerial vehicle, with a vehicle controller interface, towards the target position;
generating a flight plan to the target position;
generate the target position, with a target position generator, to determine an updated target position; and
determine an intersection between the target position, a subject position, and a surface of the virtual space.
7. The method of claim 6 , further comprising:
generating way points or additional target positions enroute to the target position.
8. The method of claim 6 , further comprising:
changing a speed of the unmanned aerial vehicle, with an electronic speed controller, by changing an amount of thrust applied by thrust motors.
9. The method of claim 8 , further comprising:
controlling the thrust motors to move the unmanned aerial vehicle towards the target position.
10. The method of claim 8 , further comprising:
determining a direction and the speed of the unmanned aerial vehicle, with a vehicle control interface module, as the unmanned aerial vehicle travels towards the target position.
11. A non-transitory computer-readable storage medium including executable instructions that, when executed by a processor, facilitate performance of operations comprising operations to:
determine, with a controller, a virtual space around an unmanned aerial vehicle based on data from a camera;
determine, with the controller, a target position of the unmanned aerial vehicle based on the virtual space;
move the unmanned aerial vehicle, with a vehicle controller interface, towards the target position;
generate a flight plan to the target position;
generate the target position, with a target position generator, to determine an updated target position; and
determine an intersection between the target position, a subject position, and a surface of the virtual space.
12. The non-transitory computer-readable storage medium of claim 11 , wherein the operations further comprise operations to:
generate waypoints or additional target positions between a current position of the unmanned aerial vehicle and the target position.
13. The non-transitory computer-readable storage medium of claim 12 , wherein the operations further comprise operations to:
change a speed of the unmanned aerial vehicle, with an electronic speed controller, via a change in thrust applied by thrust motors.
14. The non-transitory computer-readable storage medium of claim 11 , wherein the operations further comprise operations to:
determine a direction and a speed of the unmanned aerial vehicle, with a vehicle control interface module, as the unmanned aerial vehicle travels towards the target position.
15. The non-transitory computer-readable storage medium of claim 14 , wherein the operations further comprise operations to:
determine an intersection between the target position, a subject position, and a surface of the virtual space.
16. The non-transitory computer-readable storage medium of claim 14 , wherein the operations further comprise operations to:
determine a radius of a sphere of the virtual space.
17. The vehicle of claim 1 , further comprising:
a camera configuration controller configured to determine a configuration of the camera based on the updated target position.
18. The vehicle of claim 1 , wherein the vehicle operates in an out-state when the target position generator determines the vehicle is outside of the virtual space around the vehicle.
19. The method of claim 6 , further comprising:
updating the target position, to an updated target position, based upon an intersection between a direct path to the target position and a subject position or a surface of the virtual space.
20. The method of claim 6 , further comprising:
anticipating a flight path of the subject based on a subject position or a previous trajectory.