Environment Arrangement Robot for Autonomous Mobile Robot Navigation
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Solution Overview
Problem
Autonomous mobile robots face challenges in accurately recognizing their location and reaching destinations due to areas in the environment map with low reliability, which can lead to inaccurate self-location estimation.
Innovation Solution
An environment arrangement robot that creates an environment map by dividing the target space into cell spaces, evaluating the probability of object presence using a distance sensor, and adjusting cell spaces with low probability to improve recognition, allowing for more accurate self-location estimation by autonomous mobile robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile robot uses the created environment map for self-location estimation, then the robot can autonomously navigate, but the location estimation accuracy deteriorates when there are cell spaces with low reliability (low probability of object presence)
Solution Approach 1:
The environment arrangement robot performs preliminary actions by arranging objects in cell spaces with low reliability before the autonomous mobile robot performs self-location estimation. This preliminary arrangement improves the reliability of the environment map, ensuring accurate location estimation when the mobile robot uses the map for navigation.
2Loss of information
If the environment arrangement robot creates a complete environment map of the target space, then the map provides comprehensive information, but the time and resources required to create the map increase
Solution Approach 1:
The environment arrangement robot applies local quality by focusing arrangement efforts on specific cell spaces with low reliability rather than uniformly processing the entire environment map. The robot identifies and arranges objects in problematic areas, improving map quality where needed without wasting time on already reliable cell spaces.
3Reliability
If the environment arrangement robot arranges objects in all cell spaces, then the environment map reliability improves, but the complexity of the arrangement process increases
Solution Approach 1:
The system performs preliminary evaluation of cell space reliability before executing the arrangement process. By identifying only those cell spaces with low reliability, the system prepares a targeted arrangement plan that improves map reliability without the complexity of managing arrangements in all cell spaces.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables autonomous mobile robots to accurately recognize their location and reliably reach destinations by improving the environment map's reliability, enhancing the efficiency of mobile robot operations.
Implementation Method 1
a distance sensor configured to measure a distance to an object present nearby
Data Source
AI summary
An environment arrangement robot includes a map creation unit that divides the target space into a plurality of cell spaces and provides an evaluation value to each of the cell spaces, in which the evaluation value indicates a probability of whether or not there is an object in the corresponding cell space, and an environment change unit that changes, among the plurality of cell spaces, a specific cell space having the evaluation value within a range evaluated that the probability of whether or not there is an object in the specific cell is low in such a way that the probability that the object is present will become greater or change a surrounding cell space in such a way that the specific cell space will be excluded from the measurement by the distance sensor.