Robot Laser Path Control for Narrow Passage Collision Avoidance
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Solution Overview
Problem
Existing robot path planning algorithms are prone to positioning coordinate deviations, especially in narrow passages, leading to increased collision risks due to reliance on local path planning without adequate obstacle detection in confined spaces.
Innovation Solution
A method involving constructing a closed plane graph based on the robot's chassis size, performing laser irradiation to acquire a laser point set, and controlling movement states based on the farthest distance between the center point and laser points to avoid collisions in narrow passages.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If local path planning algorithms are used for robot navigation, then the robot can adapt to local environment changes, but positioning coordinate deviations occur especially in narrow passages leading to collision risks
Solution Approach 1:
The patent segments the laser detection area into multiple discrete detection regions along the planning path. Each detection region independently monitors for obstacles, allowing the system to maintain reliable collision avoidance while adapting to local environmental changes in narrow passages.
Solution Approach 2:
The patent performs preliminary laser irradiation detection in advance along the planned path before the robot reaches critical sections. By pre-identifying obstacles in detection regions ahead of time, the system can adjust the planning path proactively, preventing positioning deviations from causing collisions in narrow passages.
2Measurement precision
If laser irradiation is performed to detect obstacles, then obstacle detection accuracy improves, but the system complexity and computation load increase
Solution Approach 1:
The patent applies laser irradiation detection selectively to specific detection regions along the planning path rather than uniformly across all areas. Each detection region is tailored to the local geometric characteristics, maintaining high obstacle detection accuracy while reducing overall system complexity by focusing computational resources where needed.
Solution Approach 2:
The patent performs laser irradiation detection on a partial set of key detection regions along the planning path rather than exhaustive full-area scanning. This selective partial detection maintains sufficient obstacle detection accuracy for safe navigation while significantly reducing computation load and system complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Reduces the probability of collisions by accurately guiding the robot's movement through narrow passages, enhancing its security and navigation precision.
Implementation Method 1
a laser transmitter configured to perform laser irradiation from the center point to an area of the closed plane graph
Implementation Method 2
perform laser irradiation from the center point to an area of the closed plane graph to acquire a laser point set
Data Source
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AI summary
The present invention relates to the technical field of robots and provides a robot control method and apparatus, and a non-transitory computer readable storage medium. The robot control method comprises: forming a closed plane graph according to the size of a robot chassis, the closed plane graph passing through the center point of the robot chassis and a target point on a robot planned path, and the connection line between the center point and the target point is an axis of symmetry of the closed plane graph; performing laser irradiation on the region of the closed plane graph from the center point to obtain a laser point set; and controlling the motion state of the robot according to the farthest distance between all laser points in the laser point set and the center point.