Autonomous Mobile Body Obstacle Navigation Control
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Solution Overview
Problem
Existing autonomous mobile bodies lack the ability to appropriately select between stopping and retreating actions when encountering obstacles, leading to inefficient path navigation and potential interference with obstacles that can pass by.
Innovation Solution
An autonomous mobile body equipped with a storage unit for its size, a width identification unit for passage width, an obstacle information acquisition unit, a calculation unit for obstacle size, and a selection unit that determines whether to stop or retreat based on the stored size, passage width, and obstacle size, allowing it to choose the optimal action for navigating around obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile body stops when an obstacle is detected, then safety is improved, but travel time increases
Solution Approach 1:
The system changes the decision parameter from a simple stop/retreat binary choice to a continuous evaluation based on passage width measurements. By measuring the actual passage width and comparing it with the autonomous mobile body's width, the system determines the appropriate action (stop or retreat) based on quantifiable spatial parameters, optimizing both safety and efficiency.
2Adaptability or versatility
If the autonomous mobile body retreats when an obstacle is detected, then clearance for passing is ensured, but travel time increases
Solution Approach 1:
The system uses passage width measurement as a critical parameter to determine whether retreat is necessary. When the passage width is sufficient to accommodate both the autonomous mobile body and the obstacle, the system selects stop action rather than retreat, thereby maintaining adaptability for safe passing while minimizing travel time loss.
3Reliability
If the autonomous mobile body always stops when an obstacle is detected, then safety is improved, but productivity decreases
Solution Approach 1:
The system dynamically adjusts its response based on real-time environmental assessment. Instead of a static stop-always policy, the system evaluates passage width and obstacle position to dynamically select between stop and retreat actions, optimizing both safety and travel efficiency according to the specific situation.
Solution Approach 2:
The system changes from a fixed behavioral parameter (always stop) to a dynamic parameter selection based on measured passage width. When passage width exceeds a threshold, the system parameter switches to stop action; when it falls below the threshold, the parameter switches to retreat action, thereby maintaining safety while improving overall productivity.
Data Source
AI summary
An autonomous mobile body includes a laser range sensor and an electronic control device. The electronic control device includes a storage unit that stores a size D2 of the autonomous mobile body, a width identification unit that identifies a spatial size D1 in a width direction of a passage which is a region where the autonomous mobile body can move, a calculation unit that calculates a size D8 of an interfering obstacle in a direction which is substantially perpendicular to a moving target direction on a road surface based on obstacle information, an action selection unit that selects a stopping action or a retreat action based on the spatial size D1, the size D2 of the autonomous mobile body, and the size D8 of the interfering obstacle, and a mobile control unit that controls the autonomous mobile body to stop when the stopping action is selected and control the autonomous mobile body to retreat when the retreat action is selected.