Mobile Body Route Planning for Position-Loss Surface Sensing
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Solution Overview
Problem
Existing techniques for autonomous mobile bodies fail to efficiently search surroundings when their position becomes indefinite, leading to inefficient re-estimation of position and incomplete sensing of obstacle surfaces.
Innovation Solution
A control device and method that includes an own position estimation unit, obstacle position information generation, surface sensing, surface-sensed area recording, and route planning units, which prioritize and plan routes to ensure comprehensive sensing of obstacle surfaces within the surface sensing range, using time-series and current information for accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mobile body travels around itself at random to search surroundings, then it can eventually sense all areas, but it may repeatedly sense already-sensed areas and cannot search efficiently
Solution Approach 1:
The system performs preliminary actions by recording the sensed area information in advance during the search process. The recording unit stores which areas have been sensed and which have not, allowing the route planning unit to use this pre-recorded information to efficiently plan subsequent routes that avoid already-sensed areas and prioritize incomplete areas for sensing.
2Measurement precision
If a mapping module indicating unsearched, traversed, edge, and occupied areas is used to cover the entire area, then complete coverage is achieved, but the surroundings cannot be searched efficiently
Solution Approach 1:
The system applies local quality by differentiating between various types of areas (unsearched, traversed, edge, occupied) and assigning different priorities to each type. The route planning unit focuses sensing resources on unsearched areas while efficiently managing traversed and edge areas, rather than treating all areas uniformly. This localized differentiation enables efficient coverage of the entire area.
3Ease of operation
If indoor structure data indicating sensed travelable area is stored and the mobile body sequentially travels in travelable direction, then navigation is simplified, but the data cannot be used as information for efficiently searching the surroundings
Solution Approach 1:
The system achieves universality by making the recorded area information serve multiple functions. The same surface-sensed area data that helps in navigation and route planning is also used to identify incomplete sensing areas and prioritize them for future sensing operations. This multi-functional use of the recorded data simultaneously improves navigation efficiency and surroundings search efficiency.
4Reliability
If an operation of searching for obstacle or sensed area is stored to obtain travelable area, then the mobile body can navigate safely, but the surface of the obstacle is neither sensed nor stored and the surroundings cannot be efficiently searched according to surface condition
Solution Approach 1:
The system applies dynamics by making the sensing strategy adaptive rather than static. The route planning unit dynamically adjusts the search route based on the current state of surface sensing completion. As areas are sensed, the priorities are updated, and the route is re-planned to focus on remaining incomplete areas. This dynamic adaptation enables both safe navigation and efficient surface sensing of obstacles.
Data Source
AI summary
The present disclosure relates to a control device, and a control method, a program, and a mobile body that enable efficient search for surrounding information when it is in an own position indefinite state. When it is in an own position indefinite state, on the basis of an own position, obstacle position information around oneself, and information of a surface sensing possible range of a surface sensing unit including a stereo camera for determining the own position, information of a surface-sensed area of an obstacle is recorded, and a search route is planned on the basis of the information of the surface-sensed area of the obstacle. The present technology can be applied to a multi-legged robot, a flying body, and an in-vehicle system that autonomously move according to a mounted computer.