Autonomous Mobile System Predictable Path Planning
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Solution Overview
Problem
Existing autonomous mobile systems face challenges in achieving secure two-way traffic and overtaking traffic when encountering pedestrians or bicycles, as they often require sudden path changes, which can be unpredictable for both the autonomous system and the obstacles, leading to unsafe interactions.
Innovation Solution
An autonomous mobile system equipped with units for environment information acquisition, self-position estimation, obstacle detection, path determination, and vehicle control, which generates a prediction-facilitating movement to induce stable circumstances, allowing for predictable movements and minimal path changes, thereby enabling secure two-way and overtaking traffic by adjusting speed and direction based on approach circumstances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile system changes its path frequently to avoid mobile obstacles, then collision avoidance is improved, but predictability of movement deteriorates
Solution Approach 1:
The system performs preliminary path planning based on predicted obstacle positions before actual collision risk occurs. By calculating future positions of mobile obstacles and pre-determining avoidance paths, the system maintains predictable movement patterns while ensuring collision avoidance, rather than making sudden reactive changes.
Solution Approach 2:
The system dynamically adjusts its path planning based on real-time obstacle detection and prediction, while maintaining overall movement predictability. The path determination unit continuously updates the planned path based on changing obstacle positions, creating a balance between adaptability and predictability in the autonomous mobile system's movement.
2Ease of manufacture
If the autonomous mobile system maintains a fixed path, then movement predictability is improved, but collision avoidance capability deteriorates
Solution Approach 1:
The system uses the travel prediction path calculation unit to predict future positions of mobile obstacles in advance. Based on these predictions, the path determination unit pre-calculates appropriate avoidance paths before the autonomous mobile system reaches critical proximity to obstacles, maintaining both predictability and safety.
Solution Approach 2:
The system continuously monitors the actual positions of mobile obstacles and compares them with predicted positions. The path determination unit uses this feedback to adjust the planned path dynamically, ensuring that the autonomous mobile system maintains predictable movement patterns while adapting to actual obstacle positions for effective collision avoidance.
3Reliability
If the autonomous mobile system makes large path changes to ensure safety, then collision avoidance is improved, but movement stability deteriorates
Solution Approach 1:
By calculating the travel prediction path of mobile obstacles in advance and determining avoidance paths before critical situations arise, the system can plan gradual, stable path adjustments rather than making sudden large changes. This preliminary planning ensures safety while maintaining movement stability.
Solution Approach 2:
The path determination unit dynamically adjusts the avoidance path based on the relative positions and velocities of mobile obstacles, optimizing the degree of path deviation required. This dynamic adjustment ensures that only the necessary minimal path changes are made, maintaining movement stability while ensuring safety.
Data Source
AI summary
The present invention addresses the problem of achieving an autonomous mobile system that is provided with a means for safe two-way traffic or overtaking if the crossing or approach of travel paths arises with respect to another party such as a pedestrian, bicycle or the like during autonomous travel over a designated reference path in an environment in which mobile obstacles such as pedestrians, bicycles and the like moving in free directions are present in public or in a facility. To solve this problem, in the present invention, it is necessary before an approach to induce circumstances such that mutual motion is defined and to obtain defining information of the movement of the other party, thereby maintaining uniform circumstances when passing nearby such that no large changes in course are performed. Consequently, if the crossing or approach of travel paths arises with respect to another party such as a pedestrian, bicycle or the like, the autonomous mobile system behaves in a manner easy to predict by the other party in order to induce circumstances such that the movement of the other party is defined, and after obtaining the defining information of the movement of the other party, maintains uniform circumstances when passing nearby such that no large changes in course are performed, thereby achieving safe and secure two-way traffic and overtaking.