Mobile Robot Obstacle Avoidance Using Dynamic Safety Distance
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Solution Overview
Problem
Existing obstacle avoidance methods for mobile robots in sorting scenarios are prone to collisions due to enabling or disabling the obstacle avoidance function based on specific areas, leading to a risk of rear vehicles hitting front vehicles.
Innovation Solution
A method and apparatus that determine the distance between a mobile robot and a target obstacle and a target point, controlling the robot to enter a non-obstacle avoidance state if the first distance is greater than the second distance, allowing it to walk to the target point, or enter an obstacle avoidance state to walk to a location spaced from the target obstacle by a preset safety distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the obstacle avoidance function is enabled or disabled based on specific areas, then the mobile robot can operate efficiently in different zones, but the safety risk increases due to potential collisions in areas where the function is disabled
Solution Approach 1:
The obstacle avoidance function transitions from a static area-based configuration to a dynamic state that adjusts in real-time based on actual obstacle detection. The system continuously monitors the environment and activates obstacle avoidance only when obstacles are present, rather than being fixed to specific geographic zones.
Solution Approach 2:
The obstacle avoidance function is applied selectively based on local conditions rather than globally across all areas. The system enables the function only in the specific spatial region where obstacles are detected, maintaining efficiency in obstacle-free zones while ensuring safety where obstacles exist.
2Reliability
If the obstacle avoidance function is always enabled, then collision safety is improved, but the system complexity and operational efficiency deteriorate due to unnecessary function activation in empty areas
Solution Approach 1:
The system dynamically adjusts the obstacle avoidance function based on real-time environmental conditions. The function is activated only when obstacles are detected and deactivated when the environment is clear, optimizing both safety and system simplicity.
Solution Approach 2:
The mobile robot autonomously determines when to activate or deactivate the obstacle avoidance function based on its own sensor inputs and environmental perception, without requiring complex external control system instructions.
3Device complexity
If the obstacle avoidance function is disabled in non-sorting areas, then system complexity is reduced, but the safety risk increases as rear vehicles may hit front vehicles during following walking
Solution Approach 1:
The obstacle avoidance function is dynamically activated during following walking operations based on real-time detection of front vehicles. The system monitors the presence of obstacles in the walking path and enables the function only when needed, rather than being statically disabled in non-sorting areas.
4Reliability
If the mobile robot stops at every detected obstacle, then collision safety is improved, but the productivity decreases due to frequent interruptions in the walking process
Solution Approach 1:
The robot applies different response strategies based on the local context of obstacle detection. When obstacles are detected in the direct path, the robot stops to avoid collision. When obstacles are detected in other directions or positions that do not threaten the current path, the robot continues walking without interruption.
Solution Approach 2:
The obstacle avoidance response is dynamically adjusted based on the robot's current state and the obstacle's position. The system evaluates whether an obstacle requires immediate stopping or can be navigated around, optimizing the balance between safety and efficiency.
Data Source
AI summary
This application relates to an obstacle avoidance control method and apparatus for a mobile robot, a device, a system, and a medium. The method includes: determining a first distance between a mobile robot and a target obstacle in a walking direction of the mobile robot and a second distance between the mobile robot and a target point to be walked to in the walking direction; determining whether the first distance is greater than the second distance, if not, controlling the mobile robot to enter an obstacle avoidance state, and controlling, based on an obstacle avoidance walking strategy, the mobile robot to walk to a target location spaced from the target obstacle by a preset safety distance and then stop. By means of this application, the collision risks of the mobile robot are reduced, and the walking safety of the mobile robot is improved.