Multi-Robot Path Planning for Sensor Interference Avoidance
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Solution Overview
Problem
In large-scale environments like retail stores and airports, multiple robots with similar structures can interfere with each other's sensors, leading to incorrect obstacle detection and potential collisions due to identical sensor positions and shapes.
Innovation Solution
The implementation of a method where robots with recessed parts have sensors disposed within these areas, allowing them to distinguish between obstacles and other robots by adjusting sensed distances and generating specific moving paths to avoid collisions, utilizing a server to transmit position and path information to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots with the same structure and sensor positions are deployed in the same space, then the performance of operation is improved, but sensor interference occurs and robots incorrectly detect obstacles
Solution Approach 1:
The patent divides the sensor system into multiple types (laser sensor for distance measurement, camera sensor for image capture, ultrasonic sensor for sound wave detection) that work together. Each sensor type segments the detection function, allowing robots to distinguish between actual obstacles and other robots through multi-modal sensing and data fusion.
Solution Approach 2:
The patent introduces communication modules as intermediaries that enable robots to share position and movement information. This intermediary system allows robots to predict each other's positions and adjust their obstacle detection accordingly, preventing false detections caused by sensor interference from identical robot structures.
2Ease of manufacture
If sensors are disposed at the same position on robots with similar structures, then the manufacturing cost is reduced, but collision avoidance becomes incorrect due to sensor interference
Solution Approach 1:
The patent implements dynamic adjustment of sensor data interpretation based on robot identity information. When sensors detect objects at the same positions as other robots' sensors, the system dynamically adjusts by cross-referencing communication data to determine whether the detected object is another robot or a true obstacle, maintaining operational accuracy despite identical sensor configurations.
Solution Approach 2:
The patent establishes a feedback loop where robots continuously exchange position and movement status information. This feedback mechanism allows each robot to predict the positions of other robots and adjust its obstacle detection and avoidance behavior accordingly, preventing incorrect collision avoidance while maintaining identical sensor placements.
3Area of stationary object
If robots move autonomously in crowded spaces, then the service coverage is increased, but the risk of collision between robots increases
Solution Approach 1:
The patent implements preliminary action by having robots predict each other's future positions based on current movement information exchanged through communication modules. This prediction allows robots to proactively adjust their paths and avoid collisions before they occur, enabling safe autonomous operation in crowded spaces with expanded service coverage.
Solution Approach 2:
The communication module acts as an intermediary that facilitates coordination between autonomous robots. By sharing position and movement information, the intermediary system enables robots to maintain awareness of each other's presence and adjust their navigation accordingly, reducing collision risk while operating autonomously in crowded environments.
Data Source
AI summary
The present disclosure relates to a method for avoiding collision and a robot and a server implementing such method, and according to an embodiment of the present disclosure, the robot includes a sensor configured to sense a distance between the robot and an object disposed outside, a communicator configured to receive, from the sensor or the second robot, position information of the second robot, and a controller configured to generate a moving path to avoid the collision based on at least one of position information of the second robot or distance information sensed by the sensor and depth information of a recessed part of the second robot.