Mobile Body Localization Parameter Switching for Changing Environments
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Solution Overview
Problem
Existing mobile body localization techniques struggle with accuracy and robustness due to environmental changes, leading to potential loss of self-position recognition.
Innovation Solution
A mobile body controller that dynamically adjusts localization parameters based on recognized environmental conditions using sensors and an extended Kalman filter, incorporating environmental information from advance maps or self-recognition to optimize sensor fusion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the mobile body uses fixed localization parameters in changing environments, then the device complexity is reduced, but the localization accuracy deteriorates
Solution Approach 1:
The patent implements dynamic parameter adjustment by switching between different localization parameters (first parameter for normal conditions, second parameter for degraded conditions) based on environmental recognition. This allows the system to adapt to changing environments dynamically, improving localization accuracy without requiring a completely complex system redesign.
Solution Approach 2:
The patent changes localization parameters based on recognized environmental conditions. When the environment is recognized as suitable for a second localization parameter, the system switches to using that parameter, thereby adapting to environmental changes and maintaining accurate localization without increasing overall system complexity.
2Adaptability or versatility
If the mobile body switches traveling mode when position is not fixed uniquely, then the system adapts to environmental changes, but the reliability of position recognition deteriorates
Solution Approach 1:
The patent uses environmental recognition as feedback to determine when to switch between localization parameters. This feedback mechanism ensures that parameter switching occurs only when environmental conditions warrant it, maintaining reliable position recognition while adapting to environmental changes.
Solution Approach 2:
The system dynamically switches between different localization parameters based on real-time environmental recognition, allowing it to adapt to changing conditions while maintaining reliable position recognition through appropriate parameter selection.
3Ease of operation
If the mobile body uses a single localization parameter, then the ease of operation is improved, but the adaptability to different environments deteriorates
Solution Approach 1:
The patent implements a universal localization system that can operate with different parameters depending on environmental conditions. The system maintains simple operation through automated parameter switching based on environmental recognition, while achieving multi-functionality by supporting both first and second localization parameters for different environments.
Data Source
AI summary
A mobile body controller according to the present disclosure includes circuitry configured to recognize an environment surrounding a mobile body to be controlled, and change parameters used for self-position estimation by the mobile body based on the recognized environment.