Mobile Robot Route Planning Using Relative Mesh Grid Diagrams
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Solution Overview
Problem
Conventional route planning methods for mobile robots often fail to efficiently navigate through environments with continuous obstacles, leading to potential collisions or excessive distance traveled, as they either abort the original route or simply turn around obstacles without optimizing the path.
Innovation Solution
A moving route planning method that generates a relative mesh grid diagram of a physical site with hindrance parameter values, allowing the robot to expand map grids from the start and target points in a cross or star pattern to define a route that avoids static obstacles, and uses sensors to detect and adapt to dynamic obstacles by adjusting turning directions and reversing when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot turns left or right to bypass hindrances on a straight line route, then the robot can avoid static obstacles, but it will waste a lot of moving distance when encountering continuous hindrances
Solution Approach 1:
The patent performs preliminary actions by generating a relative mesh grid diagram and pre-calculating hindrance parameter values for all map grids before the robot starts moving. This allows the robot to plan its route in advance, expanding map grids from both start and target points simultaneously to find an optimal path that avoids continuous hindrances while minimizing moving distance.
Solution Approach 2:
The patent transforms the physical site into a two-dimensional mesh grid diagram with map grids containing hindrance parameter values. By expanding map grids from start and target points in opposite directions and finding where they meet, the system solves the path planning problem in a structured spatial dimension, allowing the robot to find optimal routes around continuous obstacles.
2Device complexity
If the robot uses conventional route planning methods with simple turning around obstacles, then the device complexity is low, but the robot cannot efficiently navigate through environments with continuous obstacles
Solution Approach 1:
The patent segments the physical site into a mesh grid diagram composed of multiple map grids, where each grid contains hindrance parameter values. This segmentation allows the robot to process and analyze the environment in discrete units, expanding grids systematically from start and target points to efficiently navigate through complex environments with continuous obstacles.
Solution Approach 2:
The patent introduces a relative mesh grid diagram as an intermediary representation between the physical environment and the robot's navigation system. The grid diagram with hindrance parameter values serves as a mediator that simplifies complex environmental data, enabling efficient path planning and navigation through continuous obstacles without requiring complex real-time processing.
3Adaptability or versatility
If the robot aborts the original planned route when encountering new hindrances, then the robot can respond to dynamic obstacles, but it loses the benefit of pre-planned optimal routes
Solution Approach 1:
The patent implements feedback by continuously detecting hindrances during the robot's movement along the pre-planned route. When dynamic obstacles are detected, the system uses the pre-calculated mesh grid diagram and hindrance parameter values to quickly adjust the route, leveraging the existing spatial model to minimize re-planning time while maintaining adaptability to changing environments.
Solution Approach 2:
The patent performs preliminary actions by pre-generating the mesh grid diagram and calculating hindrance parameter values for all possible map grids before the robot starts moving. This preliminary preparation allows the robot to quickly respond to dynamic obstacles during navigation, as the computational framework is already in place and only requires real-time detection and route adjustment rather than complete re-planning.
Data Source
AI summary
The present invention disclosed a moving route planning method for mobile robot device, which provides the moving route on a physical site for the mobile robot device. The method includes a first and a second steps; in which, the first step is to generate a relative mesh grid diagram based on a physical site, and the mesh grid map comprises a plurality of map grids containing hindrance parameter values, wherein the hindrance parameter values for each map grid are determined by the locations of hindrances within the physical site at relative locations; and, the second step is to continuously expand the map grid from the start point and the target point toward the neighbored map grids until the expanded map grids meet with each other, and to define each map grid in the expansion traces for meeting with each other as the moving route.