Laser Robot Path Planning With Expanded Passable Areas
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Solution Overview
Problem
Laser radar maps fail to reflect real-time changes in the environment due to dynamic obstacles, leading to erroneous navigation for robots, especially when doors open or close, affecting user experience.
Innovation Solution
A laser robot path planning method that uses a seed filling algorithm to divide laser maps into areas and a Voronoi diagram algorithm to generate passable line segments based on historical coverage, expanding passable areas to account for dynamic obstacles, allowing for accurate path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a map is created via laser radar, then the map can be generated for navigation, but it cannot reflect changes in the environment outside the collection range in real time
Solution Approach 1:
The system performs preliminary actions by proactively detecting dynamic obstacles (doors) outside the current collection range and pre-calculating alternative paths before the robot encounters navigation errors. The door detection unit continuously scans areas beyond the current map boundaries, and when a door is detected, the system immediately generates alternative paths through that door, preparing the robot for future navigation through these areas.
Solution Approach 2:
The patent introduces a door detection unit as an intermediary component that bridges the gap between the limited laser radar collection range and the broader environment. This intermediary detects doors outside the current map boundaries and provides this information to the path planning system, enabling the robot to navigate areas beyond its current knowledge without requiring complete real-time environmental scanning.
2Ease of operation
If the robot navigates based on the generated map, then navigation can be performed, but erroneous navigation occurs when dynamic obstacles change the environment
Solution Approach 1:
The system implements feedback by continuously monitoring the environment for dynamic obstacles and using this information to update path planning. When a door is detected outside the collection range, the system feeds this information back to the alternative path generation unit, which then updates the navigation plan. This feedback loop ensures that navigation remains accurate even when the environment changes, as the robot continuously adjusts its path based on newly detected obstacles.
Solution Approach 2:
The patent applies dynamics by making the path planning system adaptive and flexible rather than static. The alternative path generation unit dynamically creates and updates multiple possible paths based on real-time door detection data. When the environment changes (doors open or close), the system dynamically adjusts the navigation plan by selecting from pre-calculated alternative paths or generating new ones, ensuring reliable navigation in changing conditions.
3Area of stationary object
If the laser radar collection range is expanded to cover more area, then more environmental changes can be detected, but the device complexity and cost increase
Solution Approach 1:
The system applies segmentation by dividing the environmental monitoring task into two distinct functional segments: the main laser radar for mapping within the collection range, and a separate door detection unit for detecting doors outside the collection range. This segmentation allows each component to be optimized for its specific function, avoiding the need to expand the main laser radar's collection range while still achieving comprehensive environmental awareness.
Solution Approach 2:
The door detection unit serves as an intermediary that extends the system's effective collection range without requiring expansion of the main laser radar. This intermediary component specifically targets door detection in areas outside the current map boundaries, providing extended environmental awareness with minimal additional complexity compared to expanding the entire radar system.
Data Source
AI summary
A laser robot path planning method includes: obtaining a target start point and a target end point of a laser robot; determining, based on a first map, whether the target start point and the target end point of the laser robot are located within a same area; in a case that the target start point and the target end point are located within the same area, planning a movement path based on the first map using the target start point and the target end point; and in a case that the target start point and the target end point are located within different areas, expanding a passable area of the first map based on several passable line segments in a second map, and planning the movement path based on the expanded first map, the target start point, and the target end point.