Movable Body Obstacle Avoidance With Side-Surface Path Updating
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Solution Overview
Problem
Existing movable body control systems fail to effectively avoid obstacles by only considering the front surface position and attitude, leading to potential collisions with side surfaces during navigation.
Innovation Solution
A method and system that includes detecting obstacles using sensors, determining the position and attitude of both the front and side surfaces, and dynamically updating the avoidance path to ensure safe passage by switching directions while avoiding collisions with side surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the movable body determines only the front surface position and attitude of the obstacle, then the control process is simple, but the obstacle avoidance is inaccurate and may collide with side surfaces
Solution Approach 1:
The patent segments the obstacle surface detection into two distinct parts: front surface detection and side surface detection. The front surface detection determines the initial obstacle position, while side surface detection (performed during avoidance path traversal) determines the lateral boundaries. This segmentation allows comprehensive obstacle mapping without requiring all detection operations to be simultaneously complex.
Solution Approach 2:
The patent performs preliminary detection of the obstacle's front surface to establish an initial avoidance path before actual avoidance maneuvering begins. This preliminary action provides a head start in path planning, allowing the system to prepare avoidance trajectories in advance rather than reacting solely during the avoidance execution phase.
2Reliability
If the movable body uses a static avoidance path based on initial obstacle detection, then the control is simple, but the avoidance path may be insufficient when side surfaces are encountered
Solution Approach 1:
The patent implements dynamic path updating by transitioning from a static avoidance path (based solely on initial front surface detection) to a dynamically updated path that incorporates side surface detection data. The system continuously adjusts the avoidance path during traversal based on real-time sensor feedback about obstacle side surfaces, ensuring the path remains reliable throughout the avoidance maneuver.
Solution Approach 2:
The patent incorporates feedback mechanisms where detection results obtained during avoidance path traversal are fed back into the path planning system. This feedback loop allows the system to detect side surfaces encountered during movement and update the avoidance path accordingly, creating a closed-loop control system that improves reliability through continuous verification and adjustment.
3Measurement precision
If the movable body detects obstacles only at the initial position, then the detection process is fast, but the detection is insufficient during path traversal
Solution Approach 1:
The patent maintains continuous useful action by performing obstacle detection not only at the initial position but also continuously during the avoidance path traversal. This continuous detection ensures that all obstacle surfaces (front and side) are detected without interruption, providing complete obstacle mapping while the system is in motion, rather than pausing detection during the avoidance maneuver.
Data Source
AI summary
A method of controlling a movable body includes: a step of causing a sensor provided on the movable body to detect an obstacle; a step of determining the position and attitude of a front surface, of the obstacle, opposite to the travel direction of the movable body based on the detection result of the obstacle; a step of generating an avoidance path that avoids the obstacle while heading toward a side of a first direction intersecting the travel direction based on the position and attitude of the front surface; a step of causing the movable body to move along the avoidance path; a step of detecting the obstacle while the movable body is moving along the avoidance path; a step of determining the position and attitude of the side surface of the obstacle on the side of the first direction based on the detection result obtained during movement along the avoidance path; and a step of updating the avoidance path so as to return to a side of a second direction opposite to the first direction while avoiding the obstacle based on the position and attitude of the side surface.