Path Planning with Selective Obstacle Memory for Re-Routing
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Solution Overview
Problem
Existing path planning systems face issues with increased storage and waste of movement when obstacles are detected, as they either store unnecessary obstacle data or assume obstacles are not present, leading to inefficient path updates.
Innovation Solution
A path planning device that acquires and classifies obstacle data, updates paths to avoid obstacles, and selectively stores data based on movement load and obstacle type, prioritizing dynamic obstacles for efficient path re-setting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If position data of detected obstacles is stored and held without being erased, then the moving path can be updated to avoid obstacles, but the amount of storage increases
Solution Approach 1:
The patent applies the principle of discarding and recovering by selectively erasing obstacle position data from storage when it is no longer needed for path planning. The system maintains obstacle data only when necessary to prevent path conflicts, and removes it when the obstacle is no longer relevant, thus optimizing storage usage while maintaining path planning reliability.
Solution Approach 2:
The patent applies local quality by differentiating the storage retention policy based on obstacle characteristics and path context. Instead of uniformly storing all obstacle data, the system selectively retains data for specific obstacles in specific contexts, applying different storage qualities to different parts of the data set based on their relevance to current and future path planning.
2Quantity of substance
If no position data of obstacles is stored, then the storage amount is reduced, but the moving path needs to be changed again when past obstacles are present on the new path, causing waste of movement
Solution Approach 1:
The patent applies preliminary action by proactively storing obstacle position data when it is first detected, before the obstacle becomes a problem for future path planning. This allows the system to have obstacle information readily available when planning new paths, preventing the need to detect and react to obstacles during path execution, thus avoiding movement waste.
Solution Approach 2:
The system uses feedback from path execution results to inform future path planning. When the moving body encounters an obstacle or completes a path, this information feeds back into the storage system, updating obstacle position data for use in subsequent path planning, creating a continuous improvement loop that reduces movement waste over time.
3Reliability
If obstacle position data is stored for all detected obstacles, then path updates can avoid obstacles, but the device complexity increases due to data management requirements
Solution Approach 1:
The patent applies the principle of taking out by extracting only the essential obstacle position data that is necessary for path planning, rather than storing complete obstacle information. The system identifies and stores only the critical elements (position data) needed to prevent path conflicts, removing unnecessary data management complexity while maintaining path planning reliability.
4Reliability
If the moving path is frequently updated based on detected obstacles, then the moving body can avoid obstacles, but the productivity decreases due to repeated path recalculation
Solution Approach 1:
The patent applies merging by combining multiple obstacle position data points into consolidated path planning information. Instead of processing each obstacle detection as a separate event requiring immediate path recalculation, the system merges obstacle data and updates paths in a more efficient manner, reducing the frequency of path recalculation while maintaining effective obstacle avoidance.
Data Source
AI summary
A path planning device includes: data acquisition means for acquiring position data of an obstacle; storage means for storing the position data of the obstacle; and path setting means for setting, based on an environmental map, the acquired position data of the obstacle and the position data of the obstacle stored in the storage means, a moving path to a target position, and regularly updating the moving path. The path setting means sets, when the path setting means determines that the acquired obstacle is positioned on a first moving path to the target position after the first moving path is set, a second moving path in which there is no obstacle on a moving path. The storage means stores the position data of the obstacle on the first moving path when the moving load along the second moving path is larger than the moving load along the first moving path.