Adaptive Motion Controller for Trajectory Correction Without Replanning

Solution Overview

Problem

Autonomous systems, such as lawn mowers, often recalculate trajectories due to environmental conditions or sensor inaccuracies, consuming substantial resources and time.

Innovation Solution

Implementing a controller with a kinematics component and a dynamic component to adjust the drive unit without recalculating the trajectory, using compensation data to exponentially converge the system to the target trajectory, minimizing computational resources and time.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the system recalculates the trajectory multiple times to correct deviations, then the system can return to the desired trajectory, but substantial computational resources and time are consumed

Engineering Contradiction:

Improvetrajectory accuracyVSAvoidcomputational time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The controller is pre-configured with trajectory correction logic and compensation algorithms before operation. When a deviation is detected, the controller applies pre-programmed correction strategies (such as proportional control based on deviation magnitude) rather than performing full trajectory recalculations, thereby achieving reliable trajectory recovery with minimal computational time

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors the autonomous system's position relative to the trajectory and provides real-time feedback to the controller. Based on this feedback, the controller dynamically adjusts control inputs to the drive unit, enabling the system to self-correct deviations without requiring repeated computationally intensive trajectory recalculations

Inventive Principle:

Principle #23Feedback

2Reliability

If the system rec <think>

Engineering Contradiction:

Improvetrajectory accuracyVSAvoidcomputational energy

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The controller is pre-configured with trajectory correction logic and compensation algorithms before operation. When a deviation is detected, the controller applies pre-programmed correction strategies (such as proportional control based on deviation magnitude) rather than performing full trajectory recalculations, thereby achieving reliable trajectory recovery with minimal computational time

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors the autonomous system's position relative to the trajectory and provides real-time feedback to the controller. Based on this feedback, the controller dynamically adjusts control inputs to the drive unit, enabling the system to self-correct deviations without requiring repeated computationally intensive trajectory recalculations

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS20260053087A1Adaptive controller

Publication Date: 2026.02.26 ASI LANDSCAPING LLC

AI summary

Techniques and architectures for controlling movement of a system along a desired path in an efficient manner are discussed herein. For example, an autonomous lawn mower can be configured to determine a target state for the autonomous lawn mower indicating a target position, orientation, linear velocity, rotational velocity, etc. The autonomous lawn mower can determine a difference between a current state of the autonomous lawn mower and the target state. Based on the difference, the autonomous lawn mower can determine an amount of force/torque and control the autonomous lawn mower to move based on the amount of force/torque, which can cause the autonomous lawn mower to realign with a target state.