6.5 KiB
6.5 KiB
补全auto_navigate_move_towards函数，函数的输入包含drone_id，方向和在该方向上的预期移动距离。在遇到障碍物时，需要越过障碍物，并继续移动。最终到达的位置和初始位置相比，在指定的方向上移动的距离应当不小于预期移动距离。
@tool def auto_navigate_move_towards(input_json: str) -> str: try: params = json.loads(input_json) if isinstance(input_json, str) else input_json pass
现在先补全函数，可以调用get_obstacles函数获取障碍物信息。该函数返回一个列表。obstacles的种类有4类，是point、circle、polygon、ellipse。这个列表形如：
[
{
"id": "bb07b327",
"name": "Point Obstacle 1",
"type": "point",
"position": {
"x": 609.0,
"y": 459.0,
"z": 0.0
},
"description": "",
"radius": 30.0,
"vertices": [],
"width": null,
"length": null,
"height": 0.0,
"area": 2827.4333882308138,
"created_at": 1766327750.018749,
"last_updated": 1766327750.018749
},
{
"id": "fd0760b8",
"name": "Point Obstacle 2",
"type": "point",
"position": {
"x": 896.0,
"y": 241.0,
"z": 0.0
},
"description": "",
"radius": 6.0,
"vertices": [],
"width": null,
"length": null,
"height": 0.0,
"area": 113.09733552923255,
"created_at": 1766327750.0221481,
"last_updated": 1766327750.0221481
},
{
"id": "1d817ce2",
"name": "Point Obstacle 3",
"type": "point",
"position": {
"x": 809.0,
"y": 14.0,
"z": 0.0
},
"description": "",
"radius": 8.0,
"vertices": [],
"width": null,
"length": null,
"height": 0.0,
"area": 201.06192982974676,
"created_at": 1766327750.025595,
"last_updated": 1766327750.025595
},
{
"id": "2b38acd5",
"name": "Circle Obstacle 1",
"type": "circle",
"position": {
"x": 438.0,
"y": 465.0,
"z": 0.0
},
"description": "",
"radius": 40.0,
"vertices": [],
"width": null,
"length": null,
"height": 0.0,
"area": 5026.548245743669,
"created_at": 1766327750.019903,
"last_updated": 1766327750.019903
},
{
"id": "fa67aa30",
"name": "Circle Obstacle 2",
"type": "circle",
"position": {
"x": 431.0,
"y": 605.0,
"z": 0.0
},
"description": "",
"radius": 55.0,
"vertices": [],
"width": null,
"length": null,
"height": 0.0,
"area": 9503.317777109125,
"created_at": 1766327750.0267,
"last_updated": 1766327750.0267
},
{
"id": "845b6b36",
"name": "Polygon Obstacle 1",
"type": "polygon",
"position": {
"x": 686.0,
"y": 669.0,
"z": 0.0
},
"description": "",
"radius": null,
"vertices": [
{
"x": 611.0,
"y": 594.0
},
{
"x": 761.0,
"y": 594.0
},
{
"x": 761.0,
"y": 744.0
},
{
"x": 611.0,
"y": 744.0
}
],
"width": null,
"length": null,
"height": 0.0,
"area": 22500.0,
"created_at": 1766327750.021056,
"last_updated": 1766327750.021056
},
{
"id": "8603630e",
"name": "Polygon Obstacle 2",
"type": "polygon",
"position": {
"x": 312.0,
"y": 232.0,
"z": 0.0
},
"description": "",
"radius": null,
"vertices": [
{
"x": 247.0,
"y": 167.0
},
{
"x": 377.0,
"y": 167.0
},
{
"x": 377.0,
"y": 297.0
},
{
"x": 247.0,
"y": 297.0
}
],
"width": null,
"length": null,
"height": 0.0,
"area": 16900.0,
"created_at": 1766327750.023377,
"last_updated": 1766327750.023377
},
{
"id": "b32c509b",
"name": "Polygon Obstacle 3",
"type": "polygon",
"position": {
"x": 691.0,
"y": 344.0,
"z": 0.0
},
"description": "",
"radius": null,
"vertices": [
{
"x": 625.0,
"y": 278.0
},
{
"x": 757.0,
"y": 278.0
},
{
"x": 757.0,
"y": 410.0
},
{
"x": 625.0,
"y": 410.0
}
],
"width": null,
"length": null,
"height": 0.0,
"area": 17424.0,
"created_at": 1766327750.027871,
"last_updated": 1766327750.027871
},
{
"id": "b6a5ec7c",
"name": "Polygon Obstacle 4",
"type": "polygon",
"position": {
"x": 237.0,
"y": 555.0,
"z": 0.0
},
"description": "",
"radius": null,
"vertices": [
{
"x": 181.0,
"y": 499.0
},
{
"x": 293.0,
"y": 499.0
},
{
"x": 293.0,
"y": 611.0
},
{
"x": 181.0,
"y": 611.0
}
],
"width": null,
"length": null,
"height": 0.0,
"area": 12544.0,
"created_at": 1766327750.0289862,
"last_updated": 1766327750.0289862
},
{
"id": "9bf135c3",
"name": "Ellipse Obstacle 1",
"type": "ellipse",
"position": {
"x": 475.0,
"y": 156.0,
"z": 0.0
},
"description": "",
"radius": null,
"vertices": [],
"width": 46.0,
"length": 34.0,
"height": 0.0,
"area": 4913.450910214437,
"created_at": 1766327750.0245,
"last_updated": 1766327750.0245
}
]
对于高度不为0的obstacles，如果无人机的最大可达高度大于obstacle的高度，就能够飞跃。对于不能飞跃的和高度为0的obstacles，需要绕路。
该函数只需为无人机确定一个要到达的目标坐标点。该坐标点需要与障碍物保持一定的距离。确定好目标坐标点后，调用auto_navigate_to函数
def auto_navigate_to(input_json: str) -> str:
"""
Plan an obstacle-avoiding path using analytic geometry for precise collision detection.
Input should be a JSON string with:
- drone_id: The ID of the drone (required)
- x: Target X coordinate in meters (required)
- y: Target Y coordinate in meters (required)
- z: Target Z coordinate (altitude) in meters (required)
Example: {{"drone_id": "drone-001", "x": 100.0, "y": 50.0, "z": 20.0}}
"""
即可将无人机从当前位置导航到目标位置，并避开所有障碍物。
现在请补全auto_navigate_move_towards函数。