Robot Dynamic Route Planning Using Force-Based Pose Adjustment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robots are unable to make real-time adjustments to their navigation paths in response to changes in their environment, such as blockages, leading to potential collisions or sub-optimal route adjustments.
Innovation Solution
A robot equipped with sensors to collect data on its environment, create a map, determine route poses with repulsive and attractive forces, and perform interpolation to generate a collision-free path, allowing for dynamic route planning and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If current robots follow predetermined routes, then navigation simplicity is maintained, but adaptability to environmental changes deteriorates
Solution Approach 1:
The patent implements dynamic route planning by making the navigation path adjustable in real-time based on environmental changes. The system transitions from static predetermined routes to dynamic routes that can be modified during execution, allowing robots to adapt to obstacles and environmental variations while maintaining computational efficiency through hierarchical planning approaches.
Solution Approach 2:
The system employs feedback mechanisms where sensor data about environmental changes is continuously monitored and fed back to the route planning module. This feedback loop enables the robot to detect obstacles and dynamically adjust its path, resolving the contradiction between maintaining simple navigation and achieving adaptability to environmental changes.
2Reliability
If robots make real-time route adjustments, then collision avoidance improves, but computational expense increases
Solution Approach 1:
The route planning is segmented into hierarchical levels, with high-level strategic planning separated from low-level tactical adjustments. This segmentation allows the system to perform computationally intensive planning only when necessary, while relying on pre-planned routes for routine navigation, thereby reducing overall computational expense while maintaining collision avoidance capability.
Solution Approach 2:
The system performs partial route adjustments only in the local vicinity of detected obstacles rather than replanning the entire route. This partial action approach maintains collision avoidance by making targeted local modifications while avoiding the computational expense of complete route recalculation, thus resolving the contradiction between reliability and energy consumption.
3Ease of operation
If complex dynamic adjustments are enabled, then navigation naturalness improves, but device complexity increases
Solution Approach 1:
The patent introduces intermediary components such as cost maps and potential field representations that mediate between sensor inputs and navigation outputs. These intermediaries translate complex environmental data into intuitive navigation decisions, enabling natural-looking robot behavior while managing system complexity through modular architectural design.
Data Source
AI summary
Systems and methods for dynamic route planning m autonomous navigation are disclosed. In some exemplary implementations, a robot can have one or more sensors configured to collect data about an environment including detected points on one or more objects in the environment. The robot can then plan a route in the environment, where the route can comprise one or more route poses. The route poses can include a footprint indicative at least in part of a pose, size, and shape of the robot along the route. Each route pose can have a plurality of points therein. Based on forces exerted on the points of each route pose by other route poses, objects in the environment, and others, each route pose can reposition. Based at least in part on interpolation performed on the route poses (some of which may be repositioned), the robot can dynamically route.