Mobile Robot Virtual Bumper Control for Dynamic Obstacle Avoidance
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Solution Overview
Problem
Autonomous mobile robots face challenges in avoiding dynamic obstacles like other robots or people without increasing calculation costs, especially when their position changes dynamically.
Innovation Solution
Implement a virtual bumper function by setting a virtual bumper area defined by a series of circles along the long-side direction of the robot, which adjusts based on the robot's speed and movement, triggering deceleration or stop when obstacles enter this area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a virtual bumper function is implemented to detect and respond to dynamic obstacles, then collision avoidance capability is improved, but calculation cost increases
Solution Approach 1:
The virtual bumper area is segmented into multiple circular regions arranged along the robot's long-side direction. Each circle represents a detection zone, and the robot monitors these segmented areas independently. This segmentation allows the system to focus computational resources on specific regions rather than processing the entire surrounding space, thereby improving collision avoidance while reducing overall calculation cost.
Solution Approach 2:
The patent uses circular (spheroidal in 2D top view) approximation for the virtual bumper area instead of complex polygonal or rectangular shapes. Circles have simple mathematical properties that enable efficient distance calculations using the basic circle equation. This geometric simplification maintains adequate collision detection coverage while significantly reducing the computational complexity of determining whether obstacles are within the bumper zone.
2Adaptability or versatility
If the virtual bumper area is adjusted dynamically based on moving speed, then adaptability to different motion states is improved, but calculation complexity increases
Solution Approach 1:
The virtual bumper area is designed to be dynamic, with its extent along the movement direction adjusted according to the robot's moving speed. When the robot moves faster, the virtual bumper area extends further ahead to provide earlier collision warnings. This dynamic adjustment is achieved through simple proportional scaling based on speed measurements, allowing the system to adapt to different motion states without requiring complex real-time recalculation of the bumper geometry.
Data Source
AI summary
A mobile robot control system according to an embodiment is a mobile robot control system configured to control a mobile robot, a shape of the mobile robot having long sides and short sides in a top view, and the mobile robot control system including: an area setting unit configured to set a virtual bumper area defined by a first area and a second area, the first area being defined by a plurality of circles arranged along the long-side direction and the second area being formed by moving the first area in accordance with a moving speed of the mobile robot; and a control unit configured to control the mobile robot so as to decelerate or stop when the nearby object enters the virtual bumper area. Control may be performed using a machine learning model generated by supervised learning or the like.