Multi-Robot Trajectory Correction for Autonomous Collision Avoidance
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Solution Overview
Problem
Conventional control systems for robots require users to create robot-specific programs for collision avoidance, which is burdensome due to the need for custom programming based on equipment and positional relationships, leading to increased user workload and complexity.
Innovation Solution
A control system where multiple robots connected via a network include a communication control unit, a determination unit, and a trajectory calculation unit, allowing the second robot to acquire and correct its trajectory to avoid collisions with the first robot by determining potential collisions based on their trajectories and target positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If users create robot-specific programs for collision avoidance, then collision avoidance is achieved, but user burden and programming complexity increase
Solution Approach 1:
The robot autonomously performs collision avoidance by acquiring other robots' trajectory information via network, determining potential collisions, and correcting its own trajectory without user intervention. The determination unit automatically detects collision risks by comparing trajectories, and the trajectory calculation unit self-corrects the path, eliminating the need for users to program collision avoidance logic.
Solution Approach 2:
The system implements continuous feedback by acquiring real-time trajectory information from other robots through the network, determining collision risks based on this feedback, and adjusting the trajectory accordingly. This closed-loop control ensures collision avoidance while reducing programming burden.
2Reliability
If users create robot-specific programs for collision avoidance, then collision avoidance is achieved, but user workload increases
Solution Approach 1:
The robot autonomously performs collision avoidance by acquiring other robots' trajectory information via network, determining potential collisions, and correcting its own trajectory without user intervention. The determination unit automatically detects collision risks by comparing trajectories, and the trajectory calculation unit self-corrects the path, eliminating the need for users to program collision avoidance logic.
3Area of stationary object
If robots are placed closer together to reduce production line size, then space efficiency improves, but collision risk increases
Solution Approach 1:
The system implements continuous feedback by acquiring real-time trajectory information from other robots through the network, determining collision risks based on this feedback, and adjusting the trajectory accordingly. This closed-loop control ensures collision avoidance while reducing programming burden.
Solution Approach 2:
The trajectory calculation unit corrects the robot's path in multi-dimensional space by considering the spatial trajectories of other robots. When collision is detected, the system adjusts position and orientation parameters in multiple dimensions to find an alternative safe path, enabling closer robot placement without increasing collision risk.
Data Source
AI summary
A control system is provided. A second robot in this control system has a trajectory calculation unit which calculates a trajectory of the second robot so as to avoid a first robot if it is determined that the first robot and the second robot will collide.