Robot Coverage Mapping for Clutter-Aware Area Navigation
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Solution Overview
Problem
Autonomous robots lack predictability and user control in their mission operations, as users have limited understanding of the robot's navigation and mission details, leading to unpredictable behavior and lack of input on the areas to be covered.
Innovation Solution
A computing device generates a segmentation map based on occupancy data collected by a mobile robot, classifying areas as non-clutter and clutter, and computes a coverage pattern for navigation, allowing the robot to sequentially traverse these areas in a defined sequence, which can be modified by user input for specific cleaning levels and boundaries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robot operates autonomously without user intervention, then the robot can perform tasks independently, but the user lacks understanding and control over the robot's navigation and mission details
Solution Approach 1:
The system provides continuous feedback to the user through a remote interface that displays the robot's current location, coverage progress, and navigation status. The user can view real-time information about which areas are being cleaned and modify mission parameters during operation, resolving the information asymmetry between autonomous operation and user awareness.
Solution Approach 2:
A remote user interface acts as an intermediary between the autonomous robot and the user. This intermediary provides detailed information about the robot's operations, including segmentation maps, coverage patterns, and real-time status, allowing the user to understand and control the autonomous mission without directly operating the robot.
2Productivity
If the robot uses a simple random navigation pattern, then the navigation is easy to implement, but the coverage efficiency and thoroughness are reduced
Solution Approach 1:
The cleaning area is segmented into different zones (clutter areas and non-clutter areas) based on occupancy data and surface characteristics. The navigation system plans different coverage patterns for different zones, using systematic patterns in non-clutter areas for efficient coverage and adaptive patterns in clutter areas to navigate around obstacles, thereby improving overall productivity.
Solution Approach 2:
The navigation pattern is dynamic and adapts to the environment. The system computes coverage patterns based on real-time occupancy data and surface segmentation, adjusting the navigation approach for different areas. This dynamic adaptation improves coverage efficiency without requiring complex pre-programming for every possible scenario.
3Productivity
If the robot cleans all areas uniformly, then the cleaning is simple to manage, but the cleaning effectiveness is reduced in areas with different surface characteristics
Solution Approach 1:
The system applies different cleaning approaches to different areas based on their characteristics. Clutter areas receive navigation patterns that avoid obstacles and focus on accessible surfaces, while non-clutter areas receive systematic coverage patterns. This local differentiation improves cleaning effectiveness by adapting to surface characteristics rather than using a uniform approach.
Solution Approach 2:
The system performs preliminary classification of areas into clutter and non-clutter zones before executing the cleaning mission. This preliminary action allows the navigation system to plan appropriate coverage patterns for each area type in advance, improving cleaning effectiveness without requiring complex real-time decision-making during operation.
Data Source
AI summary
A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.