Remote Control Navigation for Motile Devices Under Latency
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Solution Overview
Problem
Existing autonomously motile devices face challenges in accurately determining user inputs for navigation due to network latency and camera orientation discrepancies, leading to potential misalignment between intended and actual destinations.
Innovation Solution
The device captures image data with cameras mounted on movable components, processes user inputs by translating camera orientation to device orientation, and uses historical position and orientation data to account for latency and movement, allowing precise determination of destinations within a 3D environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the device uses network communication to transmit image data and user inputs between the autonomously motile device and user devices, then users can remotely control the device and view captured images, but network latency causes delays in transmitting user inputs and image data, leading to misalignment between intended and actual destinations
Solution Approach 1:
The system performs preliminary actions by capturing and pre-processing image data locally before transmission, and by predicting device position and orientation changes based on historical data. This allows the system to prepare navigation calculations in advance, reducing the impact of network latency when actual control commands are transmitted.
Solution Approach 2:
The system dynamically adjusts to network latency by continuously updating the device's position and orientation based on historical data and current sensor inputs. The destination calculation is dynamically modified to account for the time delay between user input transmission and device execution, ensuring accurate navigation despite varying network conditions.
2Adaptability or versatility
If cameras are mounted on movable components that can pan, tilt, and rotate, then the device can capture images from multiple orientations and directions, but camera orientation discrepancies make it difficult to accurately determine the user's intended destination
Solution Approach 1:
The system implements feedback by continuously tracking the actual position and orientation of movable camera components. This feedback is used to calculate the discrepancy between the camera's current orientation and the device's overall orientation, which is then compensated for in the destination determination algorithm to ensure accurate navigation.
Solution Approach 2:
The system introduces an intermediary calculation layer that translates between camera coordinate system and device coordinate system. This intermediary transformation process accounts for the complex orientations of cameras mounted on movable components, converting user inputs from camera perspective to accurate device navigation commands.
3Measurement precision
If the device accounts for latency and movement by using historical position and orientation data, then navigation accuracy is improved, but the complexity of processing and storing historical data increases
Solution Approach 1:
The system extracts only the essential historical data elements needed for navigation correction—specifically position and orientation data—at regular time intervals. By selectively extracting and storing only this critical information rather than all possible sensor data, the system maintains navigation accuracy while minimizing data processing and storage requirements.
Data Source
AI summary
Movement of an autonomously motile device may be controlled by a user device. The user device may display image data captured by a camera of the autonomously motile device; a user may provide input, such as a touch gesture on a display screen, indicating a command for the autonomously motile device to move to a location indicated by the input. The autonomously motile device determines a coordinate of the input and a time of the touch input; the autonomously motile device then determines a direction and distance of a corresponding movement.