User-Following Mobile Object Control for Oblique Rear Navigation
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Solution Overview
Problem
In crowded public areas, mobile objects face challenges in navigating while following users effectively due to obstacles in the surroundings, requiring improved travel control methods to maintain a safe and appropriate following position relative to the user.
Innovation Solution
A mobile object equipped with sensors to detect target objects, a setting unit to recognize the user, a path generation unit to generate a path at an obliquely rear position relative to the user, and a travel control unit to adjust movement accordingly, ensuring safe navigation and user following.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile object follows the user directly behind in crowded areas, then it can maintain close proximity to the user, but it increases the risk of collision with obstacles and reduces safety
Solution Approach 1:
The patent applies asymmetry by positioning the mobile object at an oblique rear angle (e.g., 45 degrees) relative to the user's movement direction rather than directly behind. This asymmetric positioning creates better spatial awareness of surrounding obstacles while maintaining effective following capability, resolving the contradiction between safety and following effectiveness in crowded environments.
Solution Approach 2:
The patent transitions from a one-dimensional linear following path (directly behind the user) to a two-dimensional oblique positioning strategy. By introducing the angular dimension and positioning the mobile object at an oblique rear angle, the system expands the spatial relationship between user and mobile object, enabling simultaneous obstacle avoidance and effective following.
2Adaptability or versatility
If the mobile object maintains a fixed following position, then it simplifies control logic, but it cannot adapt to dynamic obstacles and changes in surrounding environment
Solution Approach 1:
The patent implements dynamics by making the mobile object's following position adjustable and adaptive rather than fixed. The system dynamically modifies the following position based on detected obstacles, user movement patterns, and environmental conditions, enabling adaptation to changing environments while managing control complexity through structured adjustment mechanisms.
Solution Approach 2:
The patent employs feedback mechanisms where the mobile object continuously monitors surrounding obstacles and user position, then adjusts its following position accordingly. This closed-loop control system uses sensor feedback to adapt to environmental changes and obstacle positions, resolving the contradiction between adaptability and control complexity.
3Ease of operation
If the mobile object positions itself directly behind the user, then it minimizes the distance to the user, but it reduces the user's field of view and creates a blind spot
Solution Approach 1:
The patent applies asymmetry by positioning the mobile object at an oblique rear angle rather than directly behind the user. This asymmetric positioning maintains close proximity for effective following while avoiding the user's direct line of sight, thereby eliminating field of view obstruction and blind spots caused by direct rear positioning.
Data Source
AI summary
A mobile object including a sensor configured to detect a target object in surroundings, recognizes and sets a user, based on an output from the sensor; generates a path of the mobile object to follow the user at a first position that is an obliquely rear side of the user in accordance with a movement of the user that has been set and the output from the sensor; and causes the mobile object to travel in accordance with the path that has been generated.