Mobile Body Route Planning Under Communication Tolerance Constraints
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Solution Overview
Problem
Existing methods for route planning in autonomous mobile bodies are inefficient and unsafe when the communication environment is unstable, leading to potential collisions and deadlocks, as they either limit the moving range or require a relay function that cannot perform significant tasks.
Innovation Solution
An information processing apparatus that generates a task complexity tolerance map and performs route planning to satisfy constraints based on this map, limiting the number of robots entering unstable areas and adjusting routes to prevent conflicts and ensure safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the moving range is limited based on communication environment, then collision between mobile bodies is reduced, but task execution capability is reduced
Solution Approach 1:
The patent changes the parameter of task complexity dynamically based on communication environment quality. In unstable communication areas, the system adjusts task complexity parameters to match the reduced task complexity tolerance, allowing mobile bodies to execute simpler tasks that are safer and more reliable under poor communication conditions while still maintaining productive operation.
Solution Approach 2:
The system dynamically adjusts route planning and task allocation based on real-time communication environment assessment. The route planning unit modifies movement plans and the task allocation unit redistributes tasks according to the calculated task complexity tolerance map, enabling adaptive response to changing communication conditions rather than static limitation of moving ranges.
2Reliability
If a mobile body is sent as a radio wave relay base, then communication stability is improved, but the mobile body cannot perform significant tasks
Solution Approach 1:
Instead of designating a mobile body as a relay base (which would fix its role and reduce task performance), the system changes the parameter of task complexity tolerance for each mobile body based on its communication environment. This allows mobile bodies to continue performing tasks appropriate to their communication conditions without being dedicated relay nodes.
Solution Approach 2:
The patent makes mobile bodies multi-functional by allowing them to simultaneously perform their primary tasks and provide communication support when needed. Rather than dedicating a mobile body solely as a relay base, any mobile body can contribute to communication stability through the task complexity tolerance mechanism while maintaining its primary task execution capability.
3Speed
If route planning is performed without considering task complexity tolerance, then route planning speed is maintained, but conflicts and deadlocks occur in unstable communication areas
Solution Approach 1:
The system performs preliminary calculation of task complexity tolerance and generates a task complexity tolerance map before executing route planning. This pre-computation of communication environment assessment allows the route planning unit to incorporate communication constraints efficiently without significantly slowing down the planning process, as the tolerance data is prepared in advance.
Solution Approach 2:
The task complexity tolerance map serves as an intermediary data structure that bridges communication environment assessment and route planning. By introducing this intermediate representation, the system can efficiently translate complex communication conditions into simplified constraints that the route planning algorithm can process quickly, maintaining planning speed while improving conflict avoidance.
Data Source
AI summary
An information processing apparatus includes a map generation unit and a route planning unit. The map generation unit calculates allowable complexity of a task as task complexity tolerance and generates a task complexity tolerance map indicating a distribution of the task complexity tolerance. The route planning unit performs route planning for a mobile body (MB) to satisfy constraints based on the task complexity tolerance map.