Autonomous Mobile Robot Shape Planning for Obstacle Avoidance
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Solution Overview
Problem
Autonomous mobile apparatuses face challenges in navigating through environments with obstacles without physical contact, as existing technologies do not effectively plan and adjust their path and shape to avoid collisions.
Innovation Solution
An autonomous mobile apparatus equipped with a processor that acquires map information, plans a shape and traveling path to avoid obstacles, and adjusts its posture or path in real-time to prevent contact, using a combination of sensors and a control system to predict and change its path or shape dynamically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile apparatus uses a fixed shape and path planning method, then the device complexity is reduced, but the ability to avoid obstacles effectively deteriorates
Solution Approach 1:
The patent applies dynamics by making the apparatus shape changeable during movement. The control unit dynamically adjusts the apparatus shape based on predicted obstacle positions and movement paths, transforming a static shape system into a dynamic one that adapts to environmental conditions, thereby improving obstacle avoidance without requiring complex external sensing systems
Solution Approach 2:
The patent uses preliminary action by predicting future obstacle positions and potential collision points before actual contact occurs. The control unit calculates predicted movement paths and adjusts the apparatus shape in advance to prevent collisions, rather than reacting after obstacles are detected
2Reliability
If the autonomous mobile apparatus changes its shape dynamically to avoid obstacles, then the obstacle avoidance capability is improved, but the device complexity increases
Solution Approach 1:
The apparatus performs self-service by using its own movement information and shape data to predict collision risks and autonomously adjust its shape. The control unit processes internal state information (position, speed, shape) to generate shape adjustment commands, eliminating the need for complex external sensing and decision-making systems
Solution Approach 2:
The control unit serves multiple functions: it manages apparatus movement, calculates predicted positions, predicts obstacle locations, determines collision risks, and controls shape adjustments. This multi-functionality consolidates what would otherwise require separate specialized systems into a single control unit, reducing overall system complexity
3Reliability
If the autonomous mobile apparatus plans a safe path avoiding obstacles, then the safety is improved, but the traveling efficiency deteriorates due to path adjustments
Solution Approach 1:
The patent applies partial action by adjusting the apparatus shape only at specific critical points where collision risk is predicted, rather than continuously modifying the entire path. This selective shape adjustment maintains safety while minimizing disruptions to the overall traveling efficiency
Data Source
AI summary
In an autonomous mobile apparatus, a processor acquires map information including positional information of an obstacle, plans, based on the acquired map information, a shape of the autonomous mobile apparatus and a traveling path of the autonomous mobile apparatus to avoid contact between the autonomous mobile apparatus and the obstacle when the autonomous mobile apparatus is traveling along the traveling path, and causes the autonomous mobile apparatus to autonomously travel along the planned traveling path while assuming the planned shape.