Moving Body Path Return Control Using Asymptotic-Orbit Velocity
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Solution Overview
Problem
Transport robots and other moving bodies deviate from target paths when encountering obstacles, requiring long travel distances to return, which existing technologies fail to efficiently address.
Innovation Solution
A moving body control system that calculates the distance to an asymptotic-orbit for the target path by turning the moving body at candidate center-of-gravity velocities, determining a target velocity based on its position and angle relative to the path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the transport robot travels at a constant base velocity to avoid sharp turns while transporting goods, then the robot maintains stability and avoids damage, but the travel distance to return to the target path becomes excessively long
Solution Approach 1:
The patent applies dynamics by transitioning from constant velocity to variable velocity control. The robot adjusts its velocity dynamically based on the deviation distance from the target path, using multiple velocity stages (first velocity when deviation is large, second velocity when deviation is small) to optimize both stability and return efficiency.
Solution Approach 2:
The patent changes the velocity parameter based on the deviation distance from the target path. When the deviation exceeds a threshold, the robot uses a first velocity; when the deviation is within the threshold, it switches to a second velocity, thereby adapting the motion parameters to the current state to reduce overall travel distance while maintaining stability.
2Length of stationary object
If the transport robot makes sharp turns to return quickly to the target path, then the travel distance is reduced, but the robot may experience instability or damage during turning
Solution Approach 1:
The patent uses dynamic velocity adjustment to balance turning performance and stability. By switching between different velocity stages based on deviation distance, the robot can make more aggressive turns when appropriate (reducing distance) while maintaining stability control through velocity modulation.
Solution Approach 2:
The return path is segmented into different phases: an initial phase with larger deviation where the robot uses first velocity, and a final phase with smaller deviation where it uses second velocity. This segmentation allows the robot to optimize turning behavior at different stages of the return process.
3Stability of the object's composition
If the robot follows a smooth asymptotic orbit to return to the target path, then the motion is continuous and stable, but the travel distance increases compared to direct pathing
Solution Approach 1:
The patent optimizes the asymptotic orbit by using dynamic velocity adjustment. The robot travels at higher velocity when deviation is large and switches to lower velocity when approaching the path, creating a modified asymptotic trajectory that reduces overall travel distance while maintaining the stability benefits of smooth, continuous motion.
Solution Approach 2:
The velocity parameter is changed based on the deviation distance from the target path during asymptotic approach. This parameter change allows the robot to traverse the asymptotic orbit more efficiently by using higher speeds when farther from the path and lower speeds when closer, reducing total travel distance while maintaining motion continuity.
Data Source
AI summary
In order to provide a moving body control system, a control apparatus, and a moving body control method that can control travel distance in returning to a target path, the moving body control system includes a moving body and a control apparatus configured to control the moving body to follow a target path, wherein the control apparatus is configured to: calculate distance until shifting the moving body to an asymptotic-orbit for the target path by turning the moving body, at each of one or more candidate center-of-gravity velocities of the moving body, based on a position of the moving body and an angle between a moving direction of the moving body and the target path; and determine a target center-of-gravity velocity of the moving body from the one or more candidate center-of-gravity velocities based on the calculated distance.