Method and system for exploring a real-world environment
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Solution Overview
Problem
Exploring a real-world environment using a robotic device is computationally complex and time-consuming due to the presence of objects obstructing the device and being moved from their desired locations, complicating the mapping and navigation process.
Innovation Solution
A method and system for a mobile robot platform that maps the environment at two different times to track object movements, using sensors to generate representations and identify geographic location changes, and employs a manipulator to move objects back to their initial locations when necessary, utilizing frontier and contour exploration methodologies for efficient mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robotic device maps and navigates the real-world environment using sensor data processing, then the environment can be explored and objects can be located, but the process becomes computationally complex and time-consuming
Solution Approach 1:
The system performs preliminary mapping of the environment and identification of object initial locations before actual exploration begins. This preliminary action creates a reference map that speeds up subsequent object tracking during exploration, reducing the computational burden in real-time operation.
Solution Approach 2:
The mapping process is segmented into distinct phases: initial environment mapping, object location identification, and change detection. This segmentation allows the system to process different aspects of the environment separately, improving overall efficiency and reducing computational complexity during active exploration.
2Reliability
If the robotic device performs full environment mapping to track object movements, then object location changes can be detected, but the computational resources and time required increase significantly
Solution Approach 1:
Instead of performing complete re-mapping of the entire environment at each time step, the system performs partial mapping focused on detecting changes from the initial state. This partial action approach maintains reliable object movement detection while significantly reducing computational resources and time requirements.
Solution Approach 2:
The system uses feedback from the initial map comparison to identify only those regions where object movements have occurred. This feedback mechanism allows the robotic device to focus computational resources on detecting changes rather than processing the entire environment, improving both reliability and productivity.
3Adaptability or versatility
If objects are moved from their desired locations during exploration, then the environment dynamics become more complex, but the robotic device must spend additional time navigating around them
Solution Approach 1:
The system implements dynamic map updating that tracks object locations over time. When objects are moved, the system detects these changes by comparing current sensor data with the initial map and adjusts navigation paths accordingly. This dynamic approach allows the robotic device to adapt to environmental changes while minimizing navigation time through efficient path recalculation.
Data Source
AI summary
A method and system for exploring a real-world environment using a mobile robot platform comprising mapping the environment at a first time, to generate a first representation of the environment and identifying an initial location of an object in the first representation of the environment. The environment is mapped at a second time, to generate a second representation of the environment. The mappings are generated based on data obtained from a sensor associated with the mobile robot platform. Based on data obtained from the sensor, a new location of the object is identified in the second representation of the environment, and a difference between the initial location of the object and the new location of the object is determined. Using a manipulator the object is moved to the initial location when it is determined that the initial location of the object differs from the new location.