Movable robot and controlling method thereof
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Movable robots face challenges in maintaining their driving path when obstacles are encountered, often resulting in unintended changes in direction that can lead to collisions or incorrect stops, due to the selection of candidate motions based on maximum driving scores without considering angular velocity changes.
Innovation Solution
A movable robot system that includes sensors and processors to determine the amount of change in angular velocity for candidate motions, classify these changes, and calculate driving scores to select a final motion that minimizes path alterations and maintains the existing driving direction, using a soft driving mode when angular velocity changes occur.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot selects candidate motions based on maximum driving score, then obstacle avoidance capability is improved, but driving path stability deteriorates due to unintended direction changes
Solution Approach 1:
The patent introduces angular velocity change as a new parameter to evaluate candidate motions. The processor calculates the amount of angular velocity change for each candidate motion and uses this parameter to filter or rank motions, ensuring that selected motions maintain driving direction stability while still achieving obstacle avoidance. This adds a dimensional constraint to the motion selection process.
Solution Approach 2:
The patent dynamically adjusts the motion selection criteria by considering real-time angular velocity changes. Instead of using a static driving score alone, the system evaluates how each candidate motion will change the robot's angular velocity and prefers motions with smaller angular changes, making the driving behavior more stable and predictable while maintaining obstacle avoidance capability.
2Reliability
If the robot changes driving path to avoid obstacle, then obstacle avoidance is improved, but collision risk increases due to incorrect stops or direction reversal
Solution Approach 1:
The patent applies preliminary anti-action by predicting and preventing potential harmful outcomes before they occur. The processor evaluates candidate motions based on angular velocity changes to identify and reject motions that would cause abrupt direction changes or stops that could lead to collisions. This preventive approach filters out dangerous motions before execution.
Solution Approach 2:
The system uses feedback from angular velocity measurements to evaluate candidate motions. By calculating the expected angular velocity change for each candidate motion and comparing it against stability criteria, the system provides feedback to the motion selection process, ensuring that only safe, stable motions are chosen, thereby reducing collision risk.
Data Source
AI summary
A movable robot includes: a sensor; a motor configured to drive the movable robot; and at least one processor configured to: obtain a driving path of the movable robot, determine an amount of change in angular velocity corresponding to each of a plurality of candidate motions of the movable robot moving along the driving path based on sensing data obtained from the sensor, determine a final motion from the plurality of candidate motions based on the amount of change in angular velocity corresponding to each of the plurality of candidate motions, and control the motor to move the movable robot based on the final motion.