Autonomous Navigation Control Using Non-Map Data for Position Estimation
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Solution Overview
Problem
Movable apparatuses struggle to accurately estimate their position when environmental conditions significantly differ from those under which the map was generated, leading to inaccurate navigation.
Innovation Solution
A control device that acquires first and second condition data to compare conditions of map generation and current conditions, providing non-map data to assist navigation when discrepancies are detected, using sensors like LIDAR, ToF sensors, and cameras to generate accurate route information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a movable apparatus moves autonomously through a space under conditions greatly different from conditions associated with map data, then the movable apparatus can operate in varying environments, but it becomes difficult to ascertain correspondence between sensor measurement results and the map data, leading to inaccurate position estimation
Solution Approach 1:
The system performs preliminary actions by acquiring condition data indicating environmental conditions when map data is generated and current conditions before navigation. By comparing these conditions in advance, the system determines whether the environment has changed significantly, and if so, acquires non-map data (such as current images or sensor data) to assist in accurate position estimation, thus preparing compensatory measures before the positioning error occurs.
Solution Approach 2:
The system introduces condition data and non-map data as intermediary elements between the map data and sensor measurement results. These intermediaries serve as reference information to bridge the gap caused by environmental changes, enabling the system to accurately ascertain correspondence between current sensor readings and the stored map data even when conditions have changed.
2Device complexity
If map data is not updated when environmental conditions change, then the system maintains simplicity in data management, but the movable apparatus cannot accurately estimate its position when conditions differ from map generation conditions
Solution Approach 1:
Instead of completely updating map data whenever conditions change (which would be excessive and complex), the system performs partial action by selectively acquiring and providing only non-map data (such as current images or specific sensor readings) when condition comparison indicates environmental changes. This partial update approach maintains simplicity while improving navigation reliability.
Solution Approach 2:
The system implements self-service by automatically comparing condition data and determining whether non-map data acquisition is needed, without requiring external intervention or complex manual updates. The movable apparatus autonomously manages its navigation data based on environmental condition monitoring.
Data Source
AI summary
A movable apparatus control device comprising: a first condition data acquisition unit configured to acquire first condition data that indicates a condition employed in generation of map data showing a map used when a movable apparatus moves autonomously through a space; a second condition data acquisition unit configured to acquire second condition data that indicates a condition employed when the movable apparatus moves autonomously through the space using the map data; a non-map data acquisition unit configured to acquire non-map data that indicates content different from the map, in cases where the condition indicated by the first condition data and the condition indicated by the second condition data do not match within a prescribed range; and a data provision unit configured to provide the non-map data to the movable apparatus.