Navigational Path Generation via Recursive Space Partitioning
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Solution Overview
Problem
The computational cost of path generation for autonomous transporters in large facilities is high due to the complexity of navigating through unoccupied space around obstacles, which increases with facility size, leading to potential collisions and inefficiencies.
Innovation Solution
A method involving recursive partitioning of unoccupied space into cells based on proximity to obstacles, generating intermediate and updated maps with virtual obstacles, and providing these cells to a navigational controller for path generation, reducing the computational load and increasing path planning options.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If path generation is performed using traditional methods in large facilities, then complete path coverage is achieved, but computational cost increases substantially
Solution Approach 1:
The patent divides the large facility into multiple zones or regions, and further partitions unoccupied space within each zone into discrete cells. This hierarchical segmentation reduces the overall computational complexity by breaking down the large-scale path generation problem into smaller, more manageable sub-problems that can be processed independently and in parallel.
2Area of stationary object
If facility size increases, then more navigational coverage is provided, but computational cost of path generation increases substantially
Solution Approach 1:
The facility is segmented into zones, and unoccupied space within each zone is further segmented into cells. This allows the path generation system to handle large facilities by processing each zone and cell independently, maintaining efficiency even as the total facility area increases.
Solution Approach 2:
The patent introduces a hierarchical dimension to the path generation process, moving from a flat, monolithic view of the facility to a multi-level structure with zones containing cells. This dimensional transformation enables scalable processing where computational complexity grows linearly with the number of zones rather than exponentially with total facility size.
3Reliability
If traditional path generation methods are used, then all possible paths are considered, but collision risk increases in larger facilities
Solution Approach 1:
By partitioning unoccupied space into discrete cells within zones, the system can perform collision checks at the cell level rather than considering the entire facility space. This localized approach maintains collision avoidance capability while significantly reducing the time required to evaluate potential paths.
Solution Approach 2:
The patent performs preliminary partitioning of the facility space into zones and cells before path generation begins. This pre-processing creates a structured framework that enables faster real-time path planning and collision detection, as the search space is already organized and constrained to relevant regions rather than scanning the entire facility.
Data Source
AI summary
A method includes: obtaining a facility map containing at least one obstacle and unoccupied space; partitioning the unoccupied space into a set of initial cells, each initial cell having an initial boundary containing a portion of the unoccupied space according to a proximity between the portion of the unoccupied space and the at least one obstacle; generating an intermediate map containing the at least one obstacle, a set of virtual obstacles on the initial boundaries, and remaining unoccupied space; partitioning the remaining unoccupied space into a set of updated cells, each updated cell having an updated boundary containing a portion of the remaining unoccupied space according to proximity between the portion of the remaining unoccupied space, the at least one obstacle, and the virtual obstacles; and providing the set of updated cells to a navigational controller for generation of a navigational path for a mobile apparatus, the navigational path formed by segments of the updated boundaries.