Autonomous Mobile Body Path Correction for Turning and Slip Errors
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Solution Overview
Problem
Autonomous mobile bodies face challenges in accurately moving to designated positions due to errors in translational and turning motions, particularly when transporting objects, as existing technologies struggle to predict and correct for slipping and orientation errors effectively.
Innovation Solution
A data processing device calculates the first error in a initial movement and predicts the second error in a subsequent movement, using these errors to correct the movement amount, allowing the mobile body to adjust its path and ensure higher accuracy in reaching the target position, even without precise data on weight or friction coefficients.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mobile body moves autonomously using existing navigation methods, then it can reach the target position, but the positioning accuracy is insufficient due to uncorrected errors in translational and turning motions
Solution Approach 1:
The patent implements feedback by calculating actual errors from sensor data (odometry, IMU, wheel encoders) during movement, then using these errors to correct subsequent movement commands. The control device continuously monitors position deviations and adjusts movement instructions to compensate for accumulated errors, ensuring accurate target positioning despite initial inaccuracies in translational and turning motions.
Solution Approach 2:
The patent applies preliminary action by predicting potential errors before execution and pre-correcting movement commands. The system calculates expected positioning errors based on historical data and environmental factors, then adjusts movement instructions in advance to compensate for anticipated deviations, preventing accuracy loss before it occurs during the actual movement to target positions.
2Ease of operation
If the mobile body performs multiple turning motions to reach the target, then it can navigate to the destination, but turning errors accumulate and reduce positioning accuracy
Solution Approach 1:
The patent uses feedback specifically for turning corrections by monitoring actual turning angles via IMU and wheel encoder data, comparing them with commanded angles, calculating turning errors, and applying corrective adjustments to subsequent turning commands. This continuous feedback loop prevents error accumulation across multiple turning motions while maintaining flexible navigation capability.
Solution Approach 2:
The system performs preliminary correction of turning errors by predicting cumulative turning deviations based on the number and magnitude of planned turning motions, then pre-adjusting turning commands before execution. This approach maintains navigation flexibility while compensating for expected turning inaccuracies before they affect final positioning.
3Productivity
If the mobile body transports objects during movement, then it performs useful work, but slipping increases and reduces movement precision
Solution Approach 1:
The patent implements feedback for slip compensation by monitoring wheel rotation via encoders, comparing expected vs. actual position changes, detecting slipping when discrepancies exceed thresholds, and applying corrective position adjustments to compensate for slip-induced errors. This allows the mobile body to maintain transport capability while correcting for reduced movement precision caused by loading objects.
Solution Approach 2:
The system dynamically adjusts movement parameters such as speed, acceleration, and turning rates based on detected slip conditions and environmental factors. When slipping is detected during object transport, the control device modifies movement commands to reduce slip occurrence and compensate for its effects, maintaining both transport productivity and acceptable movement precision.
Data Source
AI summary
According to one embodiment, a data processing device is configured to process data related to a mobile body. The mobile body moves by autonomously traveling over a traveling surface. The data processing device is further configured to calculate a first error occurring in a first movement from a first position to a transit position. The first movement includes a translational motion and a turning motion. The data processing device is further configured to predict, based on the first error, a second error occurring in a second movement from the transit position to a second position. The second movement includes a turning motion. The data processing device is further configured to correct a movement amount of the mobile body in the second movement by using the first and second errors.