Autonomous Robot Contour Following in Dead-End Navigation
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Solution Overview
Problem
Autonomous mobile robots with non-round shapes face challenges in movement planning due to limited rotational freedom, especially when positioned close to obstacles, leading to increased error rates and resource consumption in path planning and execution.
Innovation Solution
A method for controlling autonomous mobile robots that operates in multiple contour-following modes, allowing the robot to adjust its direction and distance from contours dynamically, using a combination of translational and rotational movements to navigate around obstacles while considering its actual shape, and employing a simplified virtual shape for virtual obstacles to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If the robot uses a non-round shape to move close to walls and obstacles, then cleaning coverage and accessibility are improved, but the robot loses rotational freedom and cannot rotate in place in every situation
Solution Approach 1:
The robot dynamically switches between different contour-following modes (first and second directions) based on sensor feedback and dead-end detection, allowing it to adapt its movement strategy to overcome shape-related rotational limitations while maintaining wall-following capability
Solution Approach 2:
The system changes the direction parameter (first vs. second contour-following mode) and termination criteria based on detected dead-end situations, enabling the non-round robot to navigate around obstacles despite limited rotational freedom
2Reliability
If the robot implements precise movement planning to account for its shape and orientation, then collision avoidance is improved, but computing time and processor capacity requirements increase significantly
Solution Approach 1:
The system uses a simplified virtual shape representation instead of the actual complex robot shape for path planning calculations, reducing computational complexity while maintaining sufficient collision avoidance capability through sensor-based dead-end detection
Solution Approach 2:
The movement planning is segmented into discrete contour-following modes with clear termination criteria, allowing the system to make localized decisions based on simple geometric relationships rather than performing complex global path planning
3Ease of operation
If the robot uses standard movement patterns for predefined situations, then implementation simplicity is improved, but flexibility and error prediction become reduced
Solution Approach 1:
The system continuously monitors for dead-end situations and sensor feedback during contour-following, dynamically switching between first and second contour-following modes based on real-time conditions rather than relying on preprogrammed movement patterns
Data Source
AI summary
The embodiments described herein relate, inter alia, to a method for controlling an autonomous mobile robot which can operate in a first and at least one second contour-following mode, wherein, in each of the contour-following modes, the robot maintains a substantially constant distance away from a contour while it moves along the contour. According to one exemplary embodiment, the method comprises the following: starting the first contour-following mode, in which the robot follows the contour in a first direction of travel; detecting a dead-end situation, in which it is not possible to continue following the contour in the first contour-following mode without collision; starting a second contour-following mode, in which the robot follows the contour in a second direction of travel; and defining a criterion, the fulfilment of which terminates the second contour-following mode, and continually evaluating the criterion while the robot operates in the second contour-following mode.