Robot Path Planning With Dual Trees for Shortest-Path Search
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional path planning algorithms for robots, such as the RRT algorithm, face challenges in quickly searching for and optimizing initial paths due to dependency on tree generation processes, leading to inefficient path optimization and longer distances.
Innovation Solution
A path planning apparatus and method that independently generates a robot tree and a destination tree with the robot and destination as root nodes, respectively, using a sensing device to detect obstacles and a controller to sample nodes that prevent collisions, search for an initial path, and optimize it to achieve the shortest distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single tree is generated using the conventional RRT algorithm with the robot location as root node, then the path planning process is simple, but the initial path search is slow and cannot be quickly optimized
Solution Approach 1:
The patent divides the single tree generation process into two independent tree generation processes: a robot tree starting from the robot location and a destination tree starting from the destination. This segmentation allows parallel exploration of the configuration space from both ends, significantly reducing the time to find an initial feasible path while maintaining manageable complexity through independent tree constructions.
Solution Approach 2:
The patent performs preliminary tree generation from both the robot location and destination simultaneously before path optimization. By pre-generating these two trees with independent exploration, the system prepares multiple potential path segments in advance, enabling faster initial path search and subsequent optimization without increasing overall system complexity.
2Manufacturing precision
If path optimization is dependent on the tree generation process, then the algorithm structure is simple, but the degree of path optimization is limited and cannot achieve shortest distance
Solution Approach 1:
The patent separates path optimization into independent segments between consecutive nodes on the path. Each segment is optimized individually by generating alternative paths between node pairs and selecting the shortest valid path. This segmentation enables precise local optimization throughout the entire path while keeping each optimization step computationally manageable.
Solution Approach 2:
The patent implements dynamic path optimization by iteratively improving the path between each node pair. The algorithm dynamically generates multiple candidate paths, evaluates them against collision constraints, and selects the optimal path segment. This dynamic approach allows the path to evolve from an initial feasible solution to an optimized shortest path, achieving high precision without requiring overly complex static algorithms.
Data Source
AI summary
An embodiment path planning apparatus includes a sensing device configured to detect obstacles in an electronic map stored in a memory, wherein a location of a robot and a destination are marked on the electronic map, and a controller configured to independently generate a robot tree in which the location of the robot is a first root node and a destination tree in which the destination is a second root node, in consideration of the obstacles in the electronic map, to search for an initial path based on the robot tree and the destination tree, and to optimize the initial path such that a final path from the location of the robot to the destination has a shortest distance.