Mobile Vehicle Route Planning With Block-Based Coverage Paths
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Solution Overview
Problem
Conventional path planning methods for mobile vehicles, such as smart mowers, result in frequent path adjustments due to obstacles, leading to reduced operation efficiency and quality due to lack of unified planning.
Innovation Solution
A path planning method that divides the operation area into blocks using a grid system, performs reciprocating operations within each block, and plans obstacle-free paths between blocks, incorporating boundary and spiral path planning algorithms to ensure efficient and complete coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile vehicle adjusts its moving path in real time based on obstacle information detected by a sensor, then the vehicle can avoid obstacles, but too frequent adjustments result in a change in the original planned path and reduce operation efficiency
Solution Approach 1:
The operation area is divided into multiple operation blocks, and the path is planned in segments rather than continuously adjusted. The vehicle completes one block at a time with pre-planned paths, reducing frequent adjustments while maintaining obstacle avoidance through block-level segmentation and cross-block path planning
Solution Approach 2:
The path is planned in advance for each operation block before execution, rather than adjusting continuously during operation. This preliminary path planning for each block reduces real-time adjustments and improves operational efficiency while still allowing obstacle avoidance within the planned framework
2Reliability
If the mobile vehicle frequently adjusts its path to avoid obstacles, then obstacle avoidance is achieved, but unified planning of the overall movement path is lost
Solution Approach 1:
The overall path planning is segmented into intra-block path planning and inter-block path planning. This segmentation maintains unified planning at the block level while allowing localized obstacle avoidance within each block, reducing overall planning complexity
Solution Approach 2:
Cross-block paths are planned in advance before execution, providing unified overall path planning. This preliminary inter-block path planning maintains global coordination while allowing intra-block adjustments for obstacle avoidance
Data Source
AI summary
The present invention relates to the field of navigation. Disclosed is a route planning method for a mobile vehicle, comprising: partitioning an operation area of a mobile vehicle into blocks using a grid cell as a minimum unit to obtain operation blocks, and performing a reciprocating operation in each operation block in a traversing manner; after the mobile vehicle completes the operation in one operation block, moving to another operation block to perform the reciprocating operation therein in the same traversing manner. The present invention can cause a mobile vehicle to obtain a plurality of operation blocks on the basis of an electronic grid map of known information by means of a block partitioning algorithm, and plan an operation route in each operation block by means of a reciprocating and traversing route planning algorithm in each operation block.