Autonomous Mobile Robot Communication Restoration Control
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Solution Overview
Problem
Existing autonomous mobile robots in ad hoc networks fail to effectively restore communication when multiple mobile objects are disconnected, leading to incomplete or temporary restoration of communication, and can cause secondary network fractures.
Innovation Solution
An autonomous mobile robot that communicates with a communication-partner robot, using a controller to adjust movement commands based on received information to switch between movement vectors for original purposes and communication restoration, allowing cooperative movement to restore communication and maintain original functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a mobile object moves to restore communication after cutoff, then communication restoration is improved, but coordination with other mobile objects deteriorates, leading to secondary communication cutoffs
Solution Approach 1:
The patent combines the communication restoration movement with the original purpose movement into a unified control framework. The controller integrates both movement objectives and generates a single coordinated control command that achieves communication restoration while maintaining progress toward the original destination, preventing secondary cutoffs by ensuring all mobile objects move cooperatively.
Solution Approach 2:
The patent dynamically adjusts the control command based on real-time communication status and position information. When communication is restored, the system transitions from restoration-priority mode back to original-purpose mode. The control parameters (velocity, direction) are dynamically modified to balance communication restoration needs with mission objectives, enabling adaptive coordination among mobile objects.
2Reliability
If mobile objects prioritize communication restoration movement, then communication restoration is improved, but progress toward original purpose deteriorates
Solution Approach 1:
The patent changes the control parameters (velocity vector, movement direction) based on communication status. Instead of switching between completely different movements, the system adjusts the parameters of a unified movement command to balance communication restoration and original purpose progress. This allows continuous forward motion while recovering communication, reducing time loss.
3Speed
If mobile objects do not move cooperatively to restore communication, then individual mobility is maintained, but network communication restoration deteriorates
Solution Approach 1:
The patent implements a feedback mechanism where each mobile object receives position and status information from others via the communicator. The controller uses this feedback to adjust movement commands, ensuring that individual mobility is maintained while coordinating with the group to restore communication. The feedback loop enables real-time synchronization of movements across the network.
Data Source
AI summary
A controller of a mobile object causes the mobile object to move by a first control amount corresponding to a first velocity absolute value and a first velocity direction. If the controller detects that first information indicating a first velocity of a first communication-partner mobile object is ceased to be received, the controller decides on a second control amount by which the mobile object is to be moved based on the first information that has already been received, the second control amount corresponding to a second velocity absolute value and a second velocity direction. The controller decides on, based on the first control amount and the second control amount, a third control amount corresponding to a third velocity absolute value and a third velocity direction, and causes the mobile object to move by switching from the first control amount to the third control amount.