Autonomous Movement Control System for Dynamic Obstacle Navigation
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Solution Overview
Problem
Autonomous robots face challenges in navigating dynamic environments due to the difficulty in accurately updating maps and recognizing self-position, especially when external information like GPS is unavailable, leading to potential failures in path generation and increased noise interference.
Innovation Solution
A movement control system that includes a first map generating unit for creating grid map information based on sensor data and a second map generating unit for updating existence states of physical objects over time, allowing for more accurate path planning and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If map updating frequency is increased to cope with dynamic environment changes, then adaptability improves, but noise interference increases
Solution Approach 1:
The patent applies dynamics by making the map updating mechanism adaptive rather than static. The system dynamically adjusts the updating frequency and threshold values based on environmental change detection. When dynamic obstacles are detected, the system increases updating frequency locally; when the environment is stable, it reduces updating to minimize noise. This resolves the contradiction by making the system responsive to actual conditions rather than using fixed parameters.
Solution Approach 2:
The patent changes parameters (threshold values, updating frequency) based on environmental conditions. The system monitors environmental stability and adjusts the threshold for accepting map updates accordingly. When dynamic changes are detected, threshold values are lowered to accept more frequent updates; when stable, thresholds are raised to filter noise. This parameter adaptation resolves the contradiction between adaptability and noise reduction.
2Adaptability or versatility
If threshold value for reliability is lowered to accept more environment changes, then adaptability improves, but measurement precision deteriorates
Solution Approach 1:
The patent applies local quality by using different threshold values for different regions of the map. Instead of a single global threshold, the system assigns region-specific thresholds based on the type of area (e.g., static obstacle zones vs. dynamic zones). This allows low thresholds in areas where dynamic changes are expected while maintaining high thresholds in stable areas, thus preserving measurement precision overall while improving adaptability locally.
Solution Approach 2:
The threshold values are made dynamic rather than static. The system adjusts thresholds in real-time based on detected environmental conditions and the type of physical object. For newly detected dynamic obstacles, temporary lower thresholds are applied; for established static obstacles, higher thresholds maintain precision. This dynamic parameter adjustment resolves the contradiction between adaptability and precision.
3Adaptability or versatility
If map updating frequency is increased to track dynamic obstacles, then adaptability improves, but loss of time in processing increases
Solution Approach 1:
The patent implements periodic action through event-driven map updating. Instead of continuous periodic updates, the system triggers map updates only when specific events occur (detection of new obstacles, significant environmental changes). This event-triggered periodic updating maintains adaptability by responding to actual changes while minimizing unnecessary processing time during stable periods.
Solution Approach 2:
The updating frequency is made dynamic based on environmental activity. The system monitors for changes and accelerates updating when changes are detected, then slows down or pauses when the environment is stable. This dynamic frequency adjustment maintains responsiveness to dynamic obstacles while reducing overall processing time and computational load.
Data Source
AI summary
A movement control system, a movement control device, and a program capable of generating a path corresponding to a more detailed surrounding environment are provided. A movement control system of an embodiment includes a first map generating unit and a second map generating unit. The first map generating unit generates first map information indicating a distribution of existence states related to a possibility of existence of a physical object on the basis of a position of the physical object measured by a measurement unit. The second map generating unit generates second map information indicating the existence state of the physical object of which a period during which the existence state is maintained up to a current time is within a predetermined period from the first map information.