Self-Propelled Corridor Navigation With Dynamic Side Path Control
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Solution Overview
Problem
Autonomous movable instruments face inefficiencies when navigating corridors, as they often generate longer paths due to inconsistent selection of left or right sides, leading to detours.
Innovation Solution
A method and device that estimate the position of a self-propelled device, determine the intersection point of a virtual path and a straight line orthogonal to it, calculate an offset reference point, and adjust a target point by rotating an offset point 90 degrees to travel on the left or right side of the virtual path without predefining outgoing and returning paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multiple paths (outgoing path and returning path) are set in advance for corridor navigation, then the autonomous device can navigate corridors, but the path length increases and detours occur
Solution Approach 1:
The invention extracts the path selection logic from the complex multi-path planning and implements a simpler single-path following approach with dynamic side selection. Instead of pre-defining multiple paths, the device follows one path and dynamically adjusts which side (left or right) to traverse based on real-time conditions, thereby eliminating unnecessary detours while maintaining navigation capability.
Solution Approach 2:
The invention introduces dynamic side selection where the autonomous device can switch between left-side and right-side path following based on its current state and environmental conditions. This dynamic adaptation allows the device to optimize its traversal path in real-time, avoiding the fixed, potentially suboptimal routes imposed by pre-defined multiple paths.
2Adaptability or versatility
If multiple paths are generated for different orientations and positions, then the device can adapt to various starting conditions, but the path planning complexity increases
Solution Approach 1:
The invention creates a universal path following algorithm that works for any starting orientation and position by dynamically selecting the appropriate side to follow. Instead of maintaining separate path plans for different scenarios, a single flexible algorithm adapts to various conditions through real-time decision-making, reducing planning complexity while preserving adaptability.
Solution Approach 2:
Instead of pre-planning multiple paths for different orientations and positions, the invention inverts the approach by planning a single path and adapting the traversal side dynamically. This inversion simplifies the path planning process while maintaining the ability to handle various starting conditions through runtime adjustments.
3Device complexity
If the device consistently travels on one side of the corridor, then the navigation logic is simplified, but the device cannot adapt to different initial orientations
Solution Approach 1:
The invention implements dynamic side selection that allows the device to adapt its path following behavior based on initial orientation and position. The system starts with simplified single-side following logic but incorporates dynamic switching capability that activates when needed, balancing simplicity with adaptability through conditional runtime behavior.
Data Source
AI summary
A self-propelled device, control method, and control program therefor are provided. The method and control program each include: position estimation; determining an intersection point of a virtual path connecting start and end points and a straight line passing through a position of the device, orthogonal to the virtual path; determining an offset reference point between the intersection point and the end point; determining at least each of two offset points offset on a corresponding goal point side or a start point side of the offset reference point on the virtual path; determining at least two target points reached by rotating the offset points by 90° about the offset reference point; and causing the device to travel toward the target points.