Topological Node Shifting for Obstacle-Tolerant Autonomous Navigation
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Solution Overview
Problem
Autonomous traveling vehicles face navigation challenges when obstacles are larger than nodes, preventing normal passage or arrival at destination nodes in topological navigation systems.
Innovation Solution
A traveling system that includes a processing unit to transition or expand nodes outside the occupied range of obstacles, allowing the vehicle to bypass or arrive at nodes by controlling the autonomous vehicle's route based on sensor data and topological map information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If topological navigation is used with nodes and edges for route calculation, then navigation structure is simplified and route planning is efficient, but navigation fails when obstacles are larger than nodes and block passage or destination arrival
Solution Approach 1:
The patent applies dynamics by making the node configuration adaptable rather than static. When an obstacle is detected on a node, the system dynamically transitions the node to a different position outside the obstacle's occupied range, or expands the node to encompass available space around the obstacle. This dynamic adjustment allows the navigation system to maintain reliability while preserving the simplicity of topological navigation.
Solution Approach 2:
The patent changes the parameters of nodes in response to obstacle detection. Specifically, it modifies the position parameter by transitioning nodes outside obstacle ranges, and adjusts the size parameter by expanding nodes when necessary. These parameter changes enable the navigation system to adapt to obstacles while maintaining the overall topological structure, resolving the contradiction between structural simplicity and navigation reliability.
2Measurement precision
If nodes are kept small and fixed for precise position determination, then position accuracy is improved, but passage becomes impossible when obstacles larger than nodes appear on nodes
Solution Approach 1:
The system maintains precise position determination through the topological node structure while introducing dynamic adaptability. When obstacles are detected, nodes transition to new positions or expand their boundaries, allowing the system to handle obstacles of various sizes while preserving the precision benefits of defined node positions for successful passages.
Solution Approach 2:
The patent performs preliminary actions by proactively transitioning or expanding nodes when obstacles are detected, before navigation failure occurs. This preliminary adjustment of node parameters ensures that the navigation system can adapt to obstacles while maintaining position determination precision for viable passage points.
3Adaptability or versatility
If additional nodes are generated around interfering nodes to replace blocked nodes, then route alternatives are provided, but navigation cannot complete when all alternative nodes are also blocked by obstacles
Solution Approach 1:
The patent segments the obstacle interference problem by transitioning individual nodes outside specific obstacle ranges rather than generating multiple alternative nodes. This segmentation approach divides the navigation space into obstacle-free zones, allowing the vehicle to reach destinations even when traditional alternative node generation fails.
Solution Approach 2:
The patent moves the solution into another dimension by transitioning nodes in spatial dimensions outside obstacle occupied ranges, rather than generating alternative nodes within the same dimensional constraint. This dimensional approach allows navigation completion by accessing space around obstacles that was previously unavailable, providing a more robust solution than conventional alternative node generation.
Data Source
AI summary
To provide a traveling system of an autonomous traveling vehicle capable of executing navigation even when there is an obstacle on a node in topological navigation and a method executed by the traveling system of an autonomous traveling vehicle.The traveling system of an autonomous traveling vehicle that travels on a route constituted by a plurality of nodes and edges is provided, wherein the autonomous traveling vehicle determines passage of the nodes by passing over the nodes, and the traveling system includes: a processing unit that, in a case where there is an obstacle on the node, transitions the node outside an occupied range of the obstacle or expands the node so that the node is outside the occupied range of the obstacle; and a control unit that controls traveling of the autonomous traveling vehicle on the basis of the node transitioned or expanded by the processing unit.