Mobile Manipulator Trajectory Switching for Real-Time Obstacle Avoidance
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Solution Overview
Problem
Existing trajectory generation systems for mobile manipulators are inefficient when they encounter changing service environments, as they require extensive re-extraction of motion data to avoid obstacles, leading to prolonged task completion times.
Innovation Solution
A system that acquires initial motion data, monitors the environment in real-time for contact, and generates a transition trajectory using quadratic programming to shift from an initial to an avoidance trajectory, ensuring the mobile manipulator can complete tasks while avoiding the environment by calculating avoidance amounts based on overlap and minimizing trajectory point differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile manipulator re-extracts motion data from the database when contact with the environment is detected, then the manipulator can avoid obstacles, but the task completion time increases significantly
Solution Approach 1:
The system pre-calculates and stores multiple candidate trajectories in the database before the mobile manipulator starts moving. When obstacle contact is detected, the manipulator can immediately switch to a pre-prepared alternative trajectory without time-consuming re-extraction from the database, thus maintaining obstacle avoidance capability while significantly reducing task completion time
Solution Approach 2:
The system dynamically switches between multiple pre-stored trajectories based on real-time environmental feedback. Instead of statically following one trajectory, the manipulator can transition between multiple pre-prepared paths, enabling adaptive response to changing environments while avoiding the time penalty of generating new trajectories during execution
2Reliability
If the mobile manipulator waits for the extraction process to complete when contact is detected, then the correct trajectory can be obtained, but the manipulator cannot continue moving
Solution Approach 1:
Multiple candidate trajectories are extracted and stored in advance in the database before task execution. When obstacle contact occurs, the manipulator can immediately switch to a pre-extracted alternative trajectory without waiting for new extraction to complete, ensuring both trajectory accuracy and movement continuity
Solution Approach 2:
The system ensures continuous task execution by having multiple trajectories ready in advance. When one trajectory becomes invalid due to obstacle contact, the manipulator can seamlessly continue moving by switching to another pre-prepared trajectory, avoiding any interruption in the useful action of task completion
Data Source
AI summary
A system includes: one or more memories; and one or more processors configured to, acquire three-dimensional data of an environment at a first timing; extract a plurality of pieces of motion data from the one or more memories, the motion data including the target end-effector position and attitude and a swept volume that does not contact the environment; start the task based on first motion data, the first motion data being one of the extracted pieces of motion data; when determination is made that the mobile manipulator comes into contact with the environment, extract, as second motion data, motion data including a swept volume that does not contact the environment based on the three-dimensional data acquired in real time; and generate a transition trajectory for transitioning from a trajectory of the first motion data to a trajectory of the second motion data.