Modular Robot Localization Architecture for Cross-Platform Navigation
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Solution Overview
Problem
Current autonomous localization and navigation systems for service robots are highly coupled with the robotic host equipment, requiring extensive modifications and are not easily reusable across different robots, leading to high development complexity and limited industrialization due to their dependence on specific sensor configurations and robotic platforms.
Innovation Solution
A highly modularized autonomous localization and navigation equipment that includes a processing device and transmission devices for low-level and high-level communication, allowing for the acquisition and processing of sensing information to generate motion control commands and logic data, thereby reducing the coupling with host equipment and enabling flexible integration and expansion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If autonomous localization and navigation algorithms are highly coupled with specific robotic host equipment and sensor configurations, then the algorithm can achieve optimized performance for that specific platform, but the development complexity increases and the algorithm cannot be easily reused across different robots
Solution Approach 1:
The patent segments the autonomous localization and navigation system into independent functional modules including sensor data acquisition module, SLAM algorithm module, path planning module, and control module. Each module operates independently with well-defined interfaces, allowing the algorithm to be adapted to different robotic platforms without complete redesign. The segmentation enables modular development where each component can be optimized separately while maintaining overall system performance.
Solution Approach 2:
The patent creates a universal autonomous localization and navigation algorithm framework that can be applied across multiple types of service robots including mobile robots, robotic arms, and aerial robots. The framework uses standardized sensor interfaces and abstracted motion models that accommodate different robot configurations. This universality is achieved through parameterized robot models and configurable sensor suites that can be adapted to various platforms without modifying the core algorithm structure.
2Adaptability or versatility
If developers need to redesign and develop simultaneous localization mapping and motion planning algorithms for different robots, then the algorithm can be optimized for each specific robot, but the implementation process becomes complicated and time-consuming
Solution Approach 1:
The patent implements pre-configured robot models and sensor interfaces that are prepared in advance for common service robot types. The system includes pre-defined parameter sets for different robot configurations (mobile robots, robotic arms, aerial robots) and pre-integrated sensor drivers for standard sensors. This preliminary preparation allows developers to quickly deploy the algorithm on new robots by simply selecting the appropriate pre-configured model and adjusting minor parameters, rather than performing complete algorithm redesign.
Solution Approach 2:
The patent uses parameterized robot models where key characteristics such as dimensions, mass, inertia, and sensor positions are defined as configurable parameters. The motion planning and control algorithms automatically adapt to different robot configurations by reading these parameters and adjusting their behavior accordingly. This parameter-based approach enables rapid adaptation to new robot types through simple parameter modification rather than algorithmic redesign.
3Ease of operation
If ROS is used as a software-level system with independent interface modules, then it is easier for developers to use, but ROS cannot address the problems faced in the use of autonomous localization and navigation algorithms due to lack of collaboration with low-level and high-level layers
Solution Approach 1:
The patent introduces an intermediary layer called the motion planning and control module that bridges ROS's high-level independent modules with the low-level robot control systems. This intermediary handles the complex coordination between SLAM, path planning, and motor control, translating ROS navigation goals into specific motor commands while considering robot dynamics and sensor configurations. The intermediary maintains ROS's ease of use while adding the integration capability needed for autonomous navigation.
Solution Approach 2:
The patent implements a nested architecture where ROS's high-level navigation modules are embedded within a comprehensive autonomous localization and navigation framework. The framework contains nested sub-modules for SLAM, path planning, obstacle detection, and motor control, with each layer accessing and controlling the layers below it. This nested structure allows ROS's user-friendly interface to remain intact while enabling deep integration with low-level robot systems through the hierarchical organization of control functions.
4Ease of manufacture
If the autonomous localization and navigation equipment has unchangeable and single functions, then it can be rapidly integrated into robots, but it is difficult for users to extend their desired functions based on such equipment
Solution Approach 1:
The patent implements a dynamic function architecture where the autonomous localization and navigation equipment can adapt its capabilities based on configured sensors and parameters. The system includes a configurable sensor suite that can be enabled or disabled based on the specific robot's hardware, and a parameterized robot model that can be adjusted to represent different robot types. This dynamic configuration allows the same core equipment to be rapidly integrated into various robots while maintaining the ability to extend functions through software configuration rather than hardware modification.
5Adaptability or versatility
If the equipment has greater expansion flexibility, then users can extend desired functions, but the equipment has high external dependence with the robot system making integration technically difficult
Solution Approach 1:
The patent segments the expansion capabilities into independent, plug-and-play functional modules such as additional sensors, alternative motion models, and specialized path planning algorithms. Each module has well-defined interfaces that connect to the core system through standardized protocols. This segmentation allows users to expand system functionality by adding or removing specific modules without affecting the core integration, thereby providing flexibility while maintaining integration simplicity.
Data Source
AI summary
The objective of the present invention is to provide an autonomous localization and navigation equipment which has the following advantages. The autonomous localization and navigation equipment is highly modularized, which greatly reduces the coupling degree with the host equipment, so the equipment is convenient to be integrated to the existing host equipment and it is flexibly expandable. Thus, the host equipment such as a robot etc. has a more concise and clear system constitution, thereby greatly reducing the development difficulty and developing time of the host equipment having the autonomous localization and navigation equipment 1. Moreover, as a result of the high degree of modularization of the autonomous localization and navigation equipment, it is possible to miniaturize the host equipment.