Autonomous travel path planning method
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Autonomous traveling bodies, with rectangular shapes and differing dimensions, often deviate from the peripheral boundary of a travel area during grid-based path planning, leading to unfilled areas near the outer periphery due to differences in body orientation between teaching and filling travels.
Innovation Solution
The method involves creating inner rounding paths to account for deviation width based on body size, turning radius, and grid size, ensuring the travel path is planned within the grid area without deviation, and includes setting start and end positions to prevent path deviation and environmental change detection through a test travel path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If grid-based filling travel path planning is used, then the autonomous traveling body can systematically cover the travel area, but the body may deviate outward from the peripheral boundary when changing direction
Solution Approach 1:
The patent calculates the deviation width in advance based on body size, turning radius, and grid size, then creates inner rounding paths that pre-compensate for the expected deviation. This preliminary action ensures the body remains within boundaries without real-time correction.
Solution Approach 2:
The patent applies different path planning strategies to different regions: standard grid-based paths for the main travel area and specialized inner rounding paths near the peripheral boundary where direction changes occur. This local adaptation resolves the boundary deviation problem without sacrificing overall coverage efficiency.
2Manufacturing precision
If the filling travel target area is reduced to prevent deviation, then the body stays within boundaries, but unfilled areas are generated near the outer periphery
Solution Approach 1:
The patent pre-calculates the deviation width and creates inner rounding paths that extend to the maximum safe distance from the boundary. This preliminary planning maximizes the usable travel area while preventing deviation, eliminating unfilled regions.
Solution Approach 2:
The patent uses curved inner rounding paths instead of straight reduced boundaries. This curvature allows the path to follow the natural deviation pattern of the turning body, maximizing area coverage while maintaining boundary compliance.
3Adaptability or versatility
If the body orientation differs between teaching travel and filling travel, then the body can adapt to different tasks, but deviation from the peripheral boundary occurs
Solution Approach 1:
The patent creates specific inner rounding paths for boundary regions that account for different body orientations during direction changes. These localized paths maintain precision at the boundary while allowing orientation flexibility in the main travel area.
Solution Approach 2:
The patent adjusts path parameters (deviation width, rounding radius) based on body orientation and turning characteristics. This dynamic parameter adjustment allows the body to adapt orientations while maintaining boundary accuracy through compensated path geometry.
Data Source
AI summary
An autonomous travel path planning method includes obtaining a travel area to perform filling travel in a global map, calculating a deviation width of a main body of an autonomous traveling device when it changes its direction, based on a size of the autonomous traveling device, a turning radius thereof, a turning movement distance, and a grid size, creating an inner rounding path corresponding to at least a portion of the deviation width, and creating a filling travel path so as to fill a second grid area.