Autonomous Robot Maneuvering Into a GNSS Tracking Attraction Domain
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Solution Overview
Problem
Autonomous wheeled robots in precision agriculture face challenges in maintaining stable and precise operation due to disturbances, requiring a system to ensure they enter an attraction domain for predictable behavior, especially during initialization and when leaving the domain.
Innovation Solution
A navigation system using a GNSS receiver, analog front end, and processor calculates spatial and orientation coordinates to maneuver the robot into the attraction domain, employing control loops and algorithms for course reversal, posture stabilization, and navigation around physical constraints, with optional use of radar or lidar, to ensure accurate positioning and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot operates in backup mode or search mode to return to the target path, then the robot can recover from disturbances or initialization states, but the precision and stability of path tracking deteriorate
Solution Approach 1:
The patent divides the robot's operation into distinct modes: search mode for returning to the target path and closed-loop mode for precise tracking. This segmentation allows the system to optimize performance for each specific task, using appropriate control strategies for each mode rather than attempting to maintain high precision in all situations.
Solution Approach 2:
The patent implements preliminary actions by defining attraction domains and safety margins in advance. Before precise tracking is required, the system ensures the robot enters the attraction domain through search mode maneuvers, preparing the system for subsequent high-precision operation by establishing appropriate initial conditions.
2Reliability
If the robot performs maneuvers to return to the attraction domain, then the robot can restore predictable autonomous operation, but the time required for operation increases
Solution Approach 1:
The patent employs continuous feedback by monitoring the robot's position relative to the attraction domain and dynamically adjusting control parameters. The system uses feedback from position sensors to determine when the robot has entered the attraction domain and can switch from search mode to closed-loop mode, optimizing the transition timing to minimize time loss.
Solution Approach 2:
The patent implements dynamic control by adjusting maneuvering parameters in real-time based on the robot's current state and position. The system dynamically modifies velocity, acceleration, and steering commands during the return-to-path maneuvers, optimizing the trajectory to minimize time while ensuring reliable entry into the attraction domain.
3Reliability
If the robot applies geometric constraints during search maneuvers, then the robot can operate safely within allowed areas, but the complexity of the navigation system increases
Solution Approach 1:
The patent applies preliminary action by pre-defining geometric constraints and attraction domains before operation begins. The safety boundaries and allowed maneuvering areas are established in advance based on the work area geometry, allowing the navigation system to operate within these predetermined constraints without requiring complex real-time constraint solving during execution.
Data Source
AI summary
System for navigating to a trajectory starting point by autonomous robot includes a GNSS navigation receiver including antenna, analog front end, plurality of channels, and a processor, generating navigation and orientation data for the robot; based on the navigation and the orientation data, the system calculating a position and a direction of movement for the robot towards the starting point of the trajectory, given known physical constraints for movement of the robot; the system calculating spatial and orientation coordinates z1, z2 of the robot, which relate to the position and the direction of movement, where z1 represents lateral deviation, and z2 represents angular deviation; the system continuing with a programmed path for the robot for any spatial and orientation coordinates z1, z2 within an attraction domain; and for any spatial and orientation coordinates of the robot outside the attraction domain, the system continues maneuvering until the robot is inside the attraction domain.