Robot Obstacle-Crossing Termination Using Path Inflection Points
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Solution Overview
Problem
Conventional visual sweeping robots face reduced success rates and navigation efficiency due to inaccurate map obstacle markings and low map precision, causing them to get stuck along obstacle edges rather than navigating around them effectively.
Innovation Solution
A method for determining obstacle-crossing termination by selecting a preset inflection point set along a planned path, calculating distances, and checking for obstacle presence on a line segment connecting the inflection point and the robot's current position, allowing the robot to terminate or continue obstacle crossing based on predefined conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot walks along the edge of the obstacle according to the pre-planned shortest predicted path, then the robot can cross the obstacle, but the robot may get stuck and walk endlessly along the edge due to inaccurate map obstacle markings
Solution Approach 1:
The patent implements a feedback mechanism by continuously detecting whether the robot is walking along the edge of an obstacle and monitoring the walking distance. When the robot detects it has been walking along an obstacle edge beyond a threshold distance, it triggers a termination condition to stop the obstacle-crossing behavior and return to normal navigation, preventing endless looping
Solution Approach 2:
The patent pre-plans the shortest predicted path along the obstacle edge before the robot starts navigation. This preliminary path planning allows the robot to have a predefined route to follow when encountering obstacles, improving the reliability of obstacle crossing while the termination condition prevents excessive time consumption
2Loss of time
If the robot gives up navigation when it thinks it cannot navigate or deviates from the target point, then the robot avoids endless looping, but the success rate and navigation efficiency of obstacle crossing are reduced
Solution Approach 1:
The system continuously monitors the robot's position relative to the pre-planned path and obstacle edges, providing feedback that distinguishes between legitimate path following and erroneous endless looping. This feedback enables the robot to persist in obstacle crossing when appropriate while terminating when necessary
Solution Approach 2:
The patent introduces a threshold parameter for the maximum distance the robot should walk along an obstacle edge. By changing this parameter, the system can adjust the balance between completing obstacle crossing successfully and avoiding excessive time consumption, optimizing both reliability and efficiency
3Ease of manufacture
If the map precision is low and obstacle markings are inaccurate, then the map is easier to generate, but the robot cannot accurately walk according to the navigation path and gets stuck along obstacle edges
Solution Approach 1:
The patent pre-plans the shortest predicted path along the obstacle edge before navigation begins. This preliminary path planning, combined with real-time edge detection, compensates for map inaccuracies by allowing the robot to adapt to actual obstacle positions while maintaining a structured approach to crossing
Solution Approach 2:
The system dynamically adjusts the robot's navigation behavior based on real-time detection of obstacle edges and comparison with the pre-planned path. This dynamic adjustment allows the robot to handle map inaccuracies by adapting to actual environmental conditions while maintaining reliable obstacle crossing
Data Source
AI summary
A method for determining a termination of an obstacle-crossing, a method for controlling an obstacle-crossing control, a chip, and a robot. The obstacle-crossing termination determination method includes: when a robot walks along an edge according to a pre-planned shortest predicted path along the edge, selecting a second preset inflection point set, which meets a guiding condition, from a preset navigation path; an optimal inflection point is acquired from the second preset inflection point set, which meets the guiding condition; whether an obstacle is marked on a line segment which connects the optimal inflection point to the current position of the robot is determined; if so, the current obstacle crossing performed by the robot is not determined to be terminated; otherwise, the current obstacle crossing performed by the robot is determined to be terminated.