Occupancy Grid Route Control for Collision Buffer Expansion
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Solution Overview
Problem
Existing technologies fail to effectively prevent moving bodies from colliding with objects in their environment.
Innovation Solution
A control device that recognizes the position of objects around a moving body using image data, generates an occupancy grid diagram to map the environment, and expands regions around detected objects to generate a safe route for the moving body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a moving body autonomously moves to a preset destination using basic occupancy grid mapping, then the moving body can navigate the environment, but the moving body may come into contact with objects due to insufficient collision prevention
Solution Approach 1:
The patent applies preliminary action by expanding the occupancy grid cells before the moving body reaches them. The expansion is performed in advance based on the size and shape of the moving body, creating a buffer zone that prevents contact with obstacles. This allows the path planning to account for the moving body's dimensions beforehand, ensuring safe navigation without requiring complex real-time control adjustments.
2Reliability
If the occupancy grid diagram is expanded to prevent contact with objects, then collision prevention improves, but the route generation becomes more complex
Solution Approach 1:
The patent applies local quality by performing expansion only on specific occupancy grid cells that are relevant to the moving body's path and dimensions. Rather than uniformly expanding all cells, the system selectively expands cells based on local conditions such as the presence of obstacles and the moving body's geometry. This localized approach maintains reliability while reducing overall computational complexity.
3Reliability
If corner expansion is performed in the occupancy grid diagram, then collision prevention at corners improves, but the processing time increases
Solution Approach 1:
The patent applies preliminary action by detecting and expanding corner regions in advance during the occupancy grid generation phase, before path planning begins. By identifying corner cells and expanding them proactively, the system ensures that the moving body will not contact obstacles at corner regions during navigation. This upfront processing eliminates the need for time-consuming adjustments during actual movement.
4Reliability
If the first region is expanded to include more grid cells, then the safe zone increases, but the available navigation space decreases
Solution Approach 1:
The patent applies local quality by expanding the first region selectively based on local obstacle density and the moving body's position. Rather than uniformly expanding all occupied cells, the system expands only those cells where expansion is necessary for safety while minimizing impact on navigation space. This localized expansion maintains adequate safe zones without excessively reducing the area available for movement.
Data Source
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AI summary
A control device includes a recognition part that recognizes a position of an object present around a moving body based on an image obtained by imaging a state around the moving body, an occupancy grid diagram generation part that generates an occupancy grid diagram including a plurality of grid cells based on the position of the object present around the moving body, and a route generation part that generates a route, which the moving body follows, based on the occupancy grid diagram, and the occupancy grid diagram generation part determines whether the object is present for each of the plurality of grid cells in the occupancy grid diagram based on the position of the object present around the moving body, and the occupancy grid diagram generation part expands a first region including a grid cell in which it is determined that the object is present.