Adaptive Outside Map Resolution for Robotic Route Planning

Solution Overview

Problem

Existing robotic device navigation systems face challenges in creating accurate behavior plans due to the trade-off between map resolution and data/calculational load, particularly when dealing with large regions and high-resolution maps, which hinders efficient route planning, especially for destinations far away from the device.

Innovation Solution

An information processing apparatus and method that generates map specifications based on the behavior objective and state of a mobility device, creating an outside map that satisfies these specifications, allowing for dynamic adjustment of map region size and resolution to optimize behavior planning efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If an outside map with larger region and higher resolution is used to create a behavior plan, then the accuracy of the behavior plan is improved, but the data amount and calculation amount increase, resulting in increased load

Engineering Contradiction:

Improveaccuracy of behavior planVSAvoiddata amount of outside map

Core Design Contradiction:

Measurement precisionVSQuantity of substance

Solution Approach 1:

The patent applies local quality by creating outside maps with different resolutions for different regions. Specifically, the map creation unit generates a first outside map with high resolution for regions close to the robotic device and a second outside map with low resolution for regions far from the robotic device. This allows the system to maintain high accuracy for immediate navigation while reducing data amount for distant areas, thereby resolving the contradiction between map accuracy and data quantity.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The patent segments the outside map into multiple resolution levels. The map creation unit divides the external environment into near regions and far regions, creating separate maps with appropriate resolutions for each segment. This segmentation enables the system to manage data量 efficiently while maintaining necessary accuracy for behavior planning at different spatial scales.

Inventive Principle:

Principle #1Segmentation

2Measurement precision

If an outside map with larger region and higher resolution is used, then the accuracy of the behavior plan is improved, but the calculation amount for route search increases

Engineering Contradiction:

Improveaccuracy of behavior planVSAvoidcalculation amount for route search

Core Design Contradiction:

Measurement precisionVSProductivity

Solution Approach 1:

The patent applies local quality by creating outside maps with different resolutions for different regions. Specifically, the map creation unit generates a first outside map with high resolution for regions close to the robotic device and a second outside map with low resolution for regions far from the robotic device. This allows the system to maintain high accuracy for immediate navigation while reducing data amount for distant areas, thereby resolving the contradiction between map accuracy and data quantity.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The patent segments the outside map into multiple resolution levels. The map creation unit divides the external environment into near regions and far regions, creating separate maps with appropriate resolutions for each segment. This segmentation enables the system to manage data量 efficiently while maintaining necessary accuracy for behavior planning at different spatial scales.

Inventive Principle:

Principle #1Segmentation

3Quantity of substance

If an outside map of region around robotic device is maintained to prevent increase in data amount, then data amount is controlled, but it becomes difficult to perform search for route to destination far away from robotic device

Engineering Contradiction:

Improvedata amount of outside mapVSAvoidcapability to search route to distant destination

Core Design Contradiction:

Quantity of substanceVSAdaptability or versatility

Solution Approach 1:

The patent applies local quality by creating outside maps with different resolutions for different regions. Specifically, the map creation unit generates a first outside map with high resolution for regions close to the robotic device and a second outside map with low resolution for regions far from the robotic device. This allows the system to maintain high accuracy for immediate navigation while reducing data amount for distant areas, thereby resolving the contradiction between map accuracy and data quantity.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The patent introduces a new dimension of spatial scale by creating multiple outside maps at different resolution levels. Instead of using a single map, the system generates a hierarchy of maps where each map covers a different spatial extent with appropriate resolution. This dimensional approach enables the system to handle both local detailed navigation and global route planning to distant destinations simultaneously.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS11797023B2Controller, control method, and program

Publication Date: 2023.10.24 SONY GROUP CORP

AI summary

There is provided an information processing apparatus including circuitry configured to generate a map specification based on a behavior objective of a mobility device or a state of the mobility device, and create, based on the generated map specification, an outside map of an environment external to the mobility device that satisfies the generated map specification.