Multi-Mobile Route Mapping With Lane-Aware Obstacle Boundaries
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Solution Overview
Problem
Existing systems fail to efficiently manage the movement of multiple mobile bodies in environments with changing passable regions, leading to potential stalls due to unclear route maps and overlapping paths.
Innovation Solution
A route map generation system that sets boundary lines with equal distances from obstacles, determines the number of lanes based on obstacle distance and mobile body size, and generates a topological map with number-of-lanes information, ensuring efficient path planning and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a route map is generated using existing methods, then the map generation process is simple, but it is not possible to determine whether passing with each other is possible, leading to stalls
Solution Approach 1:
The movable region is divided into multiple lanes using Voronoi region division, creating segmented paths with defined boundaries. Each lane is represented as a separate edge in the topological map, enabling independent traffic flow management and preventing collisions between mobile bodies
Solution Approach 2:
The patent adds a new dimension of 'number of lanes' information to the traditional topological map. By incorporating lane width and capacity data into the map structure, the system can determine passing possibilities and manage multi-body traffic in environments where previously only single-path navigation was supported
2Productivity
If the density of mobile bodies is increased, then the system capacity is improved, but stalls occur due to overlapping paths and unclear route maps
Solution Approach 1:
The movable region is divided into multiple lanes using Voronoi region division, creating segmented paths with defined boundaries. Each lane is represented as a separate edge in the topological map, enabling independent traffic flow management and preventing collisions between mobile bodies
Solution Approach 2:
The system provides feedback through number-of-lanes information in the topological map, allowing route planning to adjust mobile body paths based on lane capacity. This feedback mechanism prevents overloading of specific regions and maintains operational stability even with high mobile body density
3Adaptability or versatility
If the passable region changes dynamically, then the system adaptability is improved, but manual map resets are required, reducing efficiency
Solution Approach 1:
The route map generation unit dynamically updates the topological map based on changes in the movable region. When obstacles move or environment changes occur, the system automatically regenerates the route map with updated lane configurations and number-of-lanes information, eliminating the need for manual map resets and maintaining continuous operational efficiency
Data Source
AI summary
In an environment in which obstacles are present, a route map generation unit 33 sets a boundary line formed by a group of points having an equal distance from the obstacles between the obstacles in a movable region that is a region in which a mobile body is movable, determines the number of lanes for a boundary line in accordance with a distance from each of the obstacles and a size of the mobile body moving between the obstacles, and generates a route map having number-of-lanes information. Furthermore, the route map generation unit 33 updates the route map according to a change of the movable region. A route planning unit 37 plans a route for each mobile body such that the number of mobile bodies does not exceed the number of lanes indicated by the number-of-lanes information on the basis of the route map. A mobile body 20 executes a movement task on the basis of a route plan generated by the route planning unit 37. A plurality of the mobile bodies can be efficiently operated even in an environment in which a passable region of the mobile body changes.