Cell-Based Path Planning for Mobile Robots
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Solution Overview
Problem
Conventional cell decomposition methods for path planning in mobile robots often result in an excessive number of cells due to fixed decomposing directions, leading to inefficient path planning performance.
Innovation Solution
The method involves determining a search order for obstacles and performing cell decomposition by connecting vertices of obstacles within a specified vertical angle, and extending lines from non-connected vertices to divide their vertical angles into two, reducing the number of cells generated.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If cell decomposition is performed in a single decomposing direction, then the path planning method is simple to implement, but the number of cells becomes excessive leading to inefficient path planning performance
Solution Approach 1:
The patent transitions from single-direction cell decomposition to multi-directional decomposition by introducing vertical angle-based decomposing lines. Instead of decomposing solely horizontally or vertically, the system now decomposes along multiple directions determined by the vertical angles at obstacle vertices, effectively adding dimensional complexity to the decomposition process to reduce cell count while maintaining implementation feasibility
Solution Approach 2:
The patent introduces dynamic adaptability by determining decomposing directions based on the actual geometric configuration of obstacles. The vertical angles at obstacle vertices dynamically dictate the decomposing line directions, allowing the system to adapt its decomposition strategy to different obstacle arrangements rather than using a fixed single-direction approach
2Ease of operation
If cell decomposition uses fixed decomposing directions, then the decomposition process is straightforward, but it generates an excessive number of cells reducing motion efficiency
Solution Approach 1:
The patent changes the parameters governing cell decomposition from fixed directional parameters to variable parameters based on obstacle geometry. Specifically, it uses the vertical angles at obstacle vertices as determining factors for decomposing line directions, transforming the decomposition process from using fixed parameters to using dynamically determined parameters that reduce cell generation while maintaining operational simplicity
3Productivity
If multiple decomposing lines are used to reduce cell count, then path planning performance improves, but the complexity of the decomposition algorithm increases
Solution Approach 1:
The patent segments the obstacle vertices into different categories based on their vertical angle characteristics. By identifying and processing vertices with specific vertical angle properties, the system can systematically generate decomposing lines without requiring complex global optimization algorithms. This segmentation approach breaks down the complex multi-directional decomposition into manageable segments based on local geometric features
Data Source
AI summary
Disclosed are an apparatus and method of cell-based path planning for a mobile body and a computer-readable recording medium storing the method therein. The method includes receiving a configuration space including a start point and a goal point of the mobile body and position information of obstacles, determining a search order of the obstacles located in the configuration space, performing cell decomposition by repeatedly connecting a vertex of one of the obstacles to a vertex of another obstacle according to the determined search order, and performing cell decomposition by making an extended line from each of non-connected vertices in a direction of dividing vertical angle of each of the non-connected vertices into two.