Mobile Robot Coverage Path Planning for Obstacle-Rich Surfaces
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Solution Overview
Problem
Existing surface coverage schemes for robotic devices are inefficient in dynamic environments with many obstacles, leading to excessive rotations, energy wastage, and retracing already covered areas.
Innovation Solution
A method involving a processor-generated two-dimensional map of the workspace, divided into cells, with a spanning tree path that minimizes turns and collisions, using a combination of straight and leaf parts, and recording collisions and covered areas to optimize surface coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a preplanned pattern is used for surface coverage, then the robotic device can operate systematically, but the number of rotations increases excessively in environments with many obstacles
Solution Approach 1:
The patent transitions from static preplanned patterns to dynamic adaptive path planning. The robotic device uses real-time sensor data and spanning tree algorithms to generate coverage paths that adapt to obstacle configurations, minimizing rotations dynamically rather than following fixed predetermined patterns
Solution Approach 2:
The system implements feedback mechanisms where sensor data about obstacles and environment is continuously fed back into the path planning algorithm. This allows the spanning tree generation to account for actual environmental conditions and adjust the coverage path to reduce unnecessary rotations
2Ease of operation
If a preplanned pattern is used for surface coverage, then the robotic device can operate systematically, but the time needed to complete the job increases due to excessive turns
Solution Approach 1:
The system uses dynamic path optimization where the spanning tree is generated based on real-time environmental feedback, allowing the robotic device to minimize travel time and turns adaptively rather than following time-consuming predetermined patterns
Solution Approach 2:
The patent changes the optimization parameters from simple systematic coverage to multi-objective optimization that minimizes both turns and time. The spanning tree algorithm adjusts path parameters dynamically to reduce traversal time while maintaining systematic coverage
3Ease of operation
If a preplanned pattern is used for surface coverage, then the robotic device can operate systematically, but energy is wasted due to excessive rotations and turns
Solution Approach 1:
The system implements dynamic energy-efficient path planning where the spanning tree algorithm optimizes routes based on real-time environmental data, reducing unnecessary rotations and turns that consume energy, while maintaining systematic coverage operation
Solution Approach 2:
Energy consumption feedback is integrated into the path planning process, where the system learns from past energy usage patterns and environmental conditions to optimize future paths, minimizing energy-wasting maneuvers while preserving systematic operation
4Ease of operation
If a preplanned pattern is used for surface coverage, then the robotic device can operate systematically, but already covered surfaces are retraced
Solution Approach 1:
The system uses feedback from sensors and coverage tracking to identify already-covered areas in real-time. This feedback is integrated into the spanning tree path generation to prevent the robotic device from retracing covered surfaces, improving coverage efficiency while maintaining systematic operation
Solution Approach 2:
The spanning tree algorithm performs preliminary path planning that anticipates coverage status before the robotic device executes the path. This preliminary action prevents retracing by optimizing the spanning tree structure based on predicted coverage patterns
Data Source
AI summary
A method for covering a surface by a robotic device including: generating a two-dimensional map of a workspace using data from at least a depth measurement device positioned on the robotic device, dividing the two-dimensional map into a grid of cells, identifying the cells as free, occupied, or unknown, localizing the robotic device within the two-dimensional map, identifying at least one frontier within the map for exploration, generating a spanning tree such that a movement path of the robotic device includes a repetition of movement in a first direction along a straight line, 180 degree rotation over a distance perpendicular to the first direction, movement in a second direction opposite the first direction along a straight line, and 180 degree rotation over a distance perpendicular to the second direction, and recording the number of collisions incurred and the areas covered by the robotic device while executing the movement path.