3D Time-Layered Path Planning for Collision-Free Robot Routing
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Solution Overview
Problem
Current path planning systems for robots and autonomous vehicles in partially controlled environments require complex collision prevention systems, consuming computing power and leading to slowdowns and unplanned blocks, even with known environment details.
Innovation Solution
A method and system using a three-dimensional weighted graph to represent a physical area, where the third dimension represents time, allowing nodes to be connected only between different time units, and updating the graph in real-time to calculate and recalculate routes based on moving objects and mission information, without the need for collision sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex collision prevention systems are used in path planning, then collision detection capability is improved, but computing power consumption increases and movement speed decreases
Solution Approach 1:
The system pre-calculates and stores path information in a database before actual movement occurs. By performing path planning in advance and storing the results, the system eliminates the need for complex real-time collision detection during movement, thus maintaining reliability while improving movement speed and reducing computing power consumption during operation.
2Reliability
If real-time collision detection systems are implemented, then safety is improved, but system complexity increases
Solution Approach 1:
The patent extracts the collision detection function from the moving object itself and relocates it to a central server. The server maintains a database of path information and handles all collision detection calculations centrally, while moving objects simply follow pre-calculated paths. This extraction eliminates complex sensors and computing systems from individual objects, reducing overall system complexity while maintaining safety.
3Speed
If path planning is performed without considering moving objects, then calculation speed is improved, but path collision risk increases
Solution Approach 1:
The system performs preliminary path planning that incorporates moving object information into the database before calculation. By pre-loading moving object data and pre-calculating paths with collision considerations, the system achieves both fast calculation speed and low collision risk without requiring complex real-time negotiations during movement.
Data Source
AI summary
Systems and methods for path planning by creating a three dimensional weighted graph representing a physical area wherein the third dimension comprise planes, wherein each plane represents a time unit, further wherein nodes can be connected only between different planes.