Grid Map Generating Apparatus with Dynamic Rotational Velocity
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Solution Overview
Problem
Existing grid map generation methods for mobile robots are inaccurate due to differences between the rotational velocity of the robot and the update velocity of distance information from sensors, leading to uneven grid intervals when rotating 360 degrees.
Innovation Solution
A grid map generating apparatus that dynamically adjusts its rotational velocity based on measured distances to objects, using a first rotational velocity for incomplete turns and a second, lower velocity for complete turns with non-linear sections to ensure uniform grid intervals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot rotates at a constant rotational velocity, then the rotation process is simple and fast, but the generated grid map becomes inaccurate due to mismatch between rotational velocity and distance information update velocity
Solution Approach 1:
The patent applies dynamics by transitioning from constant rotational velocity to variable rotational velocity. The rotational velocity is dynamically adjusted based on the distance to objects detected by the sensor. When objects are detected at specific distance ranges, the rotational velocity is modified to ensure that distance information is updated at appropriate intervals, thereby maintaining grid map accuracy while allowing flexible rotation speed control.
Solution Approach 2:
The patent implements feedback control by continuously monitoring the distance to objects detected by the distance measuring sensor and using this information to adjust the rotational velocity. The system measures distance, compares it with threshold values, and accordingly modifies the rotational velocity to maintain proper synchronization between rotation and distance information updates, ensuring accurate grid map generation.
2Loss of time
If the robot rotates faster to complete the 360 degree turn quickly, then the time for map generation is reduced, but the grid intervals become uneven and accuracy deteriorates
Solution Approach 1:
The system dynamically adjusts rotational velocity during the 360 degree rotation based on real-time distance measurements. By varying the rotation speed according to detected object distances, the system maintains appropriate sampling intervals for grid map generation, ensuring uniform grid intervals while completing the rotation efficiently.
Solution Approach 2:
The patent changes the rotational velocity parameter dynamically during the mapping process. Based on distance threshold comparisons, the system adjusts the rotational velocity to ensure that distance information is captured at appropriate spatial intervals, thereby maintaining grid uniformity and accuracy while optimizing the overall mapping time.
Data Source
AI summary
An apparatus and method generating a grid map are provided. The grid map generating apparatus generates a grid map while turning 360 degrees at a dynamically adjustable rotational velocity. The dynamically adjustable rotational velocity allows grid points to have equal intervals on the grid map. The grid map generating apparatus generates a grid map while making a complete turn, and generates a grid map corresponding to a non-linear section while making another turn.