Robot Traversability Map Updates Using Tile-Based Change Detection
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Solution Overview
Problem
Existing systems face challenges in optimizing and efficiently updating traversability maps for robots as environmental factors change, affecting the robots' traversal paths and requiring updates across varying areas.
Innovation Solution
An electronic apparatus with a transceiver, memory, and processor that generates and manages traversability maps by receiving sensing data, updating map information, and transmitting optimized maps to robots based on their features and environmental changes, identifying traversable areas and updating tiles accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the traversability map is updated across the entire area whenever environmental factors change, then the map remains current and accurate, but the computational resources and time required increase significantly
Solution Approach 1:
The traversability map is divided into multiple tiles that can be independently updated. When an environmental change occurs in a specific area, only the affected tile(s) are updated rather than the entire map, reducing computational overhead and update time while maintaining map accuracy in changed regions.
Solution Approach 2:
The system applies updates locally to only those areas of the map that are affected by environmental changes. By identifying and updating only the relevant tiles based on change detection, the system maintains high map accuracy where needed while minimizing unnecessary processing in unaffected areas.
2Measurement precision
If the traversability map is optimized for each specific robot type, then traversal accuracy and path planning improve, but the complexity of managing multiple robot-specific maps increases
Solution Approach 1:
The system generates a single traversability map that can be used by multiple robot types. By incorporating robot feature information during map generation and using robot-specific parameters for traversability determination, the same map structure serves multiple robot types accurately without requiring separate maps for each robot.
Solution Approach 2:
The system adjusts traversability parameters based on robot-specific features such as size, shape, and traversal capabilities. By changing the evaluation parameters rather than creating separate maps, the system maintains traversal accuracy for different robot types while simplifying map management through a unified map structure.
3Loss of information
If sensing data is collected from all areas to ensure complete map coverage, then the map comprehensiveness improves, but the data processing load and communication bandwidth increase
Solution Approach 1:
The sensing area is divided into multiple tiles that are processed independently. The system collects and processes sensing data for each tile separately, maintaining complete spatial coverage while reducing the volume of data that needs to be processed and transmitted at any given time by handling tiles in manageable units.
Solution Approach 2:
The system extracts and processes only the relevant sensing data from each area that is necessary for map construction. By selectively processing data based on robot features and traversal requirements, the system maintains map completeness while reducing unnecessary data processing and communication overhead.
Data Source
AI summary
An electronic apparatus for providing a traversability map of a robot and a controlling method thereof are provided. The electronic apparatus includes a transceiver, a memory configured to store feature information of each of a plurality of robots, and at least one processor configured to receive sensing data obtained by sensing vicinity by at least one external device from the external device from the at least one external device, through the transceiver, generate at least one map with respect to a space where the at least one external device is positioned based on the received sensing data, generate a traversability map for traversal of a robot based on feature information of at least one robot among the plurality of robots and the generated at least one map, and control the transceiver to transmit the traversability map to the robot.