Mobile Robot Footfall Mapping for Ground Clutter Avoidance
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Solution Overview
Problem
Existing robotic systems fail to effectively navigate around smaller obstacles during mission execution, leading to potential damage to the robot and its environment due to stepping on objects like light bulbs, tools, or tripping on open buckets or boxes.
Innovation Solution
The system identifies and classifies ground clutter obstacles using sensor data and stored footfall information to avoid stepping on such objects by generating terrain maps, segmenting boundaries and surfaces, and determining acceptable traversal paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses basic obstacle detection to navigate, then the navigation system is simple, but the robot steps on small obstacles causing damage
Solution Approach 1:
The patent segments the terrain map into multiple regions and classifies each segment as traversable or non-traversable based on sensor data and footfall history. This segmentation approach allows the robot to identify small obstacles that would be missed by simple obstacle detection, improving reliability without requiring a completely complex new system
Solution Approach 2:
The patent performs preliminary classification of ground segments during mission planning or previous executions, identifying potential obstacle locations before the robot reaches them. This preliminary action allows the robot to avoid small obstacles proactively, improving mission reliability while using existing sensor and processing capabilities
2Reliability
If the robot avoids all detected obstacles, then the robot avoids damage to environment, but the robot cannot traverse legitimate terrain features
Solution Approach 1:
The patent applies different traversal permissions to different segments of the terrain map. Each segment is classified locally as traversable or non-traversable based on its specific characteristics (e.g., flat ground vs. objects with vertical surfaces). This local quality approach allows the robot to traverse legitimate terrain features while avoiding small obstacles, balancing environment protection with navigation capability
Solution Approach 2:
The patent replaces simple mechanical obstacle avoidance with a cognitive classification system that uses sensor data, terrain mapping, and footfall history to intelligently distinguish between traversable terrain and non-traversable obstacles. This substitution enables nuanced decision-making that protects the environment while maintaining navigation flexibility
3Measurement precision
If the robot uses detailed terrain mapping to identify small obstacles, then obstacle detection accuracy improves, but processing time and computational load increase
Solution Approach 1:
The patent processes only the necessary portions of the terrain map that are relevant to the robot's current path and upcoming footfall locations. Rather than analyzing the entire environment in detail, the system focuses computational resources on segments that could potentially contain obstacles, achieving high detection precision without excessive processing time
Solution Approach 2:
The patent performs terrain mapping and obstacle classification during mission planning or previous executions, so that during actual mission execution, the robot can quickly reference pre-processed information. This preliminary action reduces real-time processing requirements while maintaining high obstacle detection precision
Data Source
AI summary
Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.