Autonomous Mobile Device Docking Control via Dynamic Path Curvature
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Solution Overview
Problem
Current autonomous mobile units face challenges in smooth and precise alignment during docking due to inadequate path planning algorithms and sensor instability, leading to unnecessary adjustments and reduced reliability and safety.
Innovation Solution
A control method for autonomous mobile devices that adjusts path curvature based on an inverse proportional function of distance from the target point, incorporating a term related to lateral offset and orientation, and uses sensor data averaging to stabilize pose estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If basic path planning algorithms are used for docking control, then the system complexity is reduced, but the smoothness and efficiency of alignment deteriorates due to unnecessary adjustments and corrections
Solution Approach 1:
The patent modifies the path curvature parameter by introducing an inverse proportional function of distance to the target point, with coefficients related to lateral offset and orientation. This dynamic parameter adjustment enables smooth alignment without requiring complex multi-stage path planning algorithms, thus improving docking efficiency while maintaining algorithm simplicity.
2Measurement precision
If sensor data is used directly for pose estimation, then the measurement precision is maintained, but the stability deteriorates due to significant fluctuations and drift in sensor data
Solution Approach 1:
The patent applies preliminary processing to sensor data by calculating a weighted average of multiple target poses obtained at different time points before using the data for control. This preprocessing step filters out fluctuations and drift while preserving measurement precision, providing stable pose estimation for the docking process.
3Ease of operation
If the path curvature is kept constant during docking, then the control simplicity is maintained, but the alignment smoothness deteriorates due to inability to quickly correct lateral offsets
Solution Approach 1:
The patent makes the path curvature dynamic by defining it as an inverse proportional function of the distance to the target point, with coefficients that depend on lateral offset and orientation. This dynamic adjustment allows the system to automatically adapt the curvature based on real-time positioning, achieving quick correction of lateral offsets while maintaining relatively simple control logic.
Data Source
AI summary
The present disclosure provides a control method for an autonomous mobile device. The control method includes obtaining a pose of a target point; determining motion control parameters based on the pose of the target point; and controlling, according to the motion control parameters, the autonomous mobile device to move along a motion trajectory. A path curvature of the motion trajectory includes an inverse proportional function of a distance from the autonomous mobile device to the target point. A coefficient of the inverse proportional function includes a term that is functionally related to a lateral offset between the autonomous mobile device and the target point, where the lateral offset is associated with an orientation of the target point.