Parametric Path Navigation for Dynamic Mobile Automation Zones
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Solution Overview
Problem
Conventional path generation mechanisms for mobile automation apparatuses in complex environments are computationally costly and poorly suited for dynamic conditions, requiring frequent path regeneration and interrupting data capture tasks due to obstacles and changing constraints.
Innovation Solution
A control method using parametric path definitions and sub-region identifiers to generate and update navigation paths efficiently, allowing the apparatus to traverse target sub-regions while adapting to dynamic conditions without interrupting data capture operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional cost-based path generation mechanisms are used, then path navigation is achieved, but computational cost is high and data capture tasks are interrupted
Solution Approach 1:
The system pre-generates multiple candidate paths before the mobile apparatus begins data capture operations. When an obstacle is detected, the system can immediately switch to a pre-computed alternative path without interrupting the data capture task, as the path regeneration has already been performed in advance.
Solution Approach 2:
The path generation system dynamically adapts to changing environmental conditions by detecting obstacles and constraints in real-time, then selecting or regenerating appropriate paths from pre-computed candidates. This allows the system to maintain continuous operation while adapting to dynamic conditions.
2Adaptability or versatility
If conventional path generation mechanisms are used, then navigation paths are generated, but computational cost is high under dynamic conditions
Solution Approach 1:
Multiple candidate paths are pre-generated and stored before the mobile apparatus operates in the environment. When dynamic conditions change, the system selects from these pre-computed paths rather than performing expensive real-time path regeneration, significantly reducing computational cost while maintaining adaptability.
Solution Approach 2:
The system changes parameters such as path selection criteria and constraint weights based on detected environmental conditions. By adjusting these parameters rather than regenerating entire paths, the system adapts to dynamic conditions with minimal computational overhead.
3Measurement precision
If paths are frequently regenerated to adapt to obstacles and constraints, then navigation accuracy is improved, but data capture operations are interrupted
Solution Approach 1:
The system pre-generates multiple candidate paths with different characteristics (e.g., different lengths, different constraints) before operation begins. When navigation accuracy needs to be improved, the system can switch between pre-computed paths without interruption, as all necessary path variations are already available.
Solution Approach 2:
The pre-generated candidate paths serve multiple functions: they provide navigation routes for avoiding obstacles and they enable continuous operation without interruption. This multi-functionality allows the system to maintain both navigation accuracy and operational continuity simultaneously.
Data Source
AI summary
A control method in a mobile automation apparatus includes: storing a plurality of parametric path definition identifiers and respective corresponding sub-region identifiers identifying sub-regions in a facility; receiving a task command containing (i) a task identifier, and (ii) a target one of the sub-region identifiers identifying a target one of the sub-regions; retrieving a selected one of the parametric path definition identifiers corresponding to the target sub-region identifier; obtaining a selected one of a plurality of parametric path definitions—including a shape parameter and a reference parameter name—corresponding to the selected parametric path definition identifier; obtaining a reference parameter value, and generating a sequence of mobile automation apparatus poses according to the parametric path definition; each pose corresponding to a location in the facility; and controlling a locomotive assembly of the mobile automation apparatus to traverse the target sub-region according to the sequence of poses.