Mobile Body Path Plan Correction Using Potential Method
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Solution Overview
Problem
Conventional path planning techniques for mobile bodies, such as Dijkstra's algorithm and RRT, face challenges in generating stable and dynamic path plans, especially in environments with moving obstacles, leading to slow updates and large plan changes.
Innovation Solution
An apparatus that includes an obstacle information acquiring section, an initial path plan generating section, an RRT path plan generating section, and a path plan correcting section using the potential method to quickly and dynamically update path plans, avoiding interference by generating and correcting path plans based on predicted obstacle movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If path plan is updated through repeated dynamic simulations to fulfill constraints, then path plan stability is improved, but time consumption increases
Solution Approach 1:
The patent performs preliminary path planning using RRT algorithm to generate a basic path plan before dynamic simulation. This preliminary action provides a starting point that reduces the number of iterative simulations needed, thereby maintaining path stability while reducing time consumption.
Solution Approach 2:
The path planning process is segmented into distinct phases: RRT-based preliminary path generation, constraint identification, and targeted dynamic simulation. By dividing the process, the patent avoids unnecessary full-repetition simulations while ensuring constraint fulfillment, thus improving efficiency without sacrificing stability.
2Adaptability or versatility
If path plan is updated frequently in response to environmental changes, then adaptability is improved, but path plan stability deteriorates
Solution Approach 1:
The patent implements a dynamic path update mechanism that adjusts the frequency and extent of path re-planning based on environmental change detection. When obstacles are detected, the system selectively updates only the affected portions of the path rather than re-planning the entire path, maintaining stability while adapting to changes.
Solution Approach 2:
The path correction focuses on local adjustments near detected obstacles rather than global re-planning. The system identifies specific path sections affected by environmental changes and applies corrections only to those regions, preserving the stability of unchanged path segments while maintaining adaptability.
3Reliability
If RRT algorithm is used to generate path avoiding future interference, then interference avoidance is improved, but computational complexity increases
Solution Approach 1:
The system performs preliminary obstacle detection and future interference prediction before executing the RRT algorithm. By pre-identifying potential interference zones and constraining the search space, the RRT computation becomes more efficient while maintaining its interference avoidance capability.
Solution Approach 2:
The patent modifies RRT algorithm parameters dynamically based on environmental context. When obstacles are detected, the system adjusts RRT parameters such as expansion radius and sampling density to focus computational effort on critical regions, reducing overall computational complexity while preserving interference avoidance.
4Stability of the object's composition
If path plan is corrected using potential method to reduce repulsive force, then path smoothness is improved, but correction time increases
Solution Approach 1:
The path correction process is segmented into identification of affected sections and targeted application of potential field method. By correcting only the portions of the path near detected obstacles rather than the entire path, the system achieves smooth corrections in critical areas while minimizing total correction time.
Data Source
AI summary
A path plan generating apparatus 10 corrects an RRT path plan that an RRT path plan generating section 22 has generated by processing based on the RRT algorithm, by a path plan correcting section 23 by processing based on the potential method. If the corrected path plan becomes a path plan with which interference between the mobile body 1 and an obstacle A is unavoidable, the apparatus 10 causes the RRT path plan generating section 22 to generate a new RRT path plan.