Historical Obstacle Localization Updates After Position Corrections
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Solution Overview
Problem
Mobile automation apparatuses in complex environments face navigational errors due to corrections in localization, leading to inefficiencies and potential virtual collisions with obstacles that are no longer in the field of view.
Innovation Solution
The apparatus employs sensors to detect obstacles, generate and store their initial locations, and apply positional adjustments based on localization corrections to update obstacle positions, mitigating virtual collisions by adjusting historical obstacle locations within a defined radius or confidence level.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If localization corrections are applied to improve navigation accuracy, then positioning precision is improved, but navigational errors and virtual collisions increase due to outdated obstacle positions
Solution Approach 1:
The system performs preliminary actions by detecting and storing obstacle positions before localization corrections are applied. When a localization correction occurs, the system proactively updates the stored obstacle positions based on the correction amount, preventing virtual collisions before they occur. This preliminary update mechanism ensures that the navigational path remains reliable even as localization accuracy improves through corrections.
2Reliability
If obstacle positions are updated frequently to maintain accuracy, then navigational reliability is improved, but system complexity and processing overhead increase
Solution Approach 1:
The system implements a feedback mechanism where localization corrections are monitored and used to trigger obstacle position updates. Rather than continuously updating obstacle positions, the system only updates them when a localization correction is detected, creating an efficient feedback loop that maintains navigational reliability while minimizing unnecessary processing and system complexity.
3Reliability
If continuous obstacle monitoring is maintained to prevent virtual collisions, then navigational safety is improved, but energy consumption and processing load increase
Solution Approach 1:
The system employs periodic action by updating obstacle positions only at specific intervals triggered by localization corrections, rather than continuously monitoring and updating obstacle positions. This periodic update approach maintains navigational safety by ensuring obstacle positions are refreshed when localization accuracy changes, while significantly reducing energy consumption and processing load compared to continuous monitoring.
Data Source
AI summary
A method of obstacle handling for a mobile automation apparatus includes: obtaining an initial localization of the mobile automation apparatus in a frame of reference; detecting an obstacle by one or more sensors disposed on the mobile automation apparatus; generating and storing an initial location of the obstacle in the frame of reference, based on (i) the initial localization, and (ii) a detected position of the obstacle relative to the mobile automation apparatus; obtaining a correction to the initial localization of the mobile automation apparatus; and applying a positional adjustment, based on the correction, to the initial position of the obstacle to generate and store an updated position of the obstacle.