METHOD AND SYSTEM FOR OPERATING A MOVABLE PLATFORM USING RAY-CASTING MAPPING

摘要

A method of planning a route for a movable platform includes obtaining sensor data representing location information of one or more objects adjacent the movable platform at a first time point, and generating a new grid map of the first time point by updating an existing grid map at a second time point prior to the first time point based on the sensor data at the first time point. Each of the existing grid map and the new grid map includes a plurality of grid cells each having a value representing a clearance status of ray casting through the grid cell at a corresponding time point. The method further includes updating the route for the movable platform based on the respective values of the plurality of grid cells of the new grid map.