Robot Moving Path Planning Using Turning Radius and Oval Trajectories
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Solution Overview
Problem
Mopping cleaning robots struggle to clean effectively as they rotate in place to change cleaning lines, failing to suck up all sprayed water, and existing path planning methods do not adequately consider turning radius and obstacle avoidance.
Innovation Solution
A moving path planning apparatus and method that determines an actual moving path using predetermined robot parameters, considering turning radius and obstacle distance, by acquiring sub regions and evaluating preliminary paths based on forward gaze distance and minimum turning radius, using geometric path tracking and evaluation scores.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the cleaning robot rotates in place to change cleaning lines, then the robot can change position quickly, but the robot cannot suck up all the water sprayed on the floor
Solution Approach 1:
The patent applies curved oval paths instead of sharp rotational turns. The robot follows a smooth oval trajectory with calculated turning radii that prevent water spillage while maintaining efficient cleaning coverage. This curved path approach resolves the contradiction by eliminating the water pickup failure that occurs during in-place rotation.
2Adaptability or versatility
If the robot uses a small turning radius to navigate tight spaces, then the robot can access narrow areas, but the robot cannot maintain stable path tracking
Solution Approach 1:
The patent implements dynamic path planning that adjusts turning radii based on real-time conditions. The system calculates optimal oval path parameters considering robot speed, acceleration, and spatial constraints, allowing adaptive navigation that maintains stability while accessing narrow areas.
Solution Approach 2:
The system dynamically modifies path parameters including turning radius, forward gaze distance, and speed based on environmental feedback. This parameter adjustment enables the robot to maintain stable tracking in narrow spaces by optimizing the balance between accessibility and path stability.
3Device complexity
If the robot plans paths without considering obstacle distance, then the path planning is simple and fast, but the robot may collide with obstacles
Solution Approach 1:
The patent incorporates preliminary obstacle distance evaluation into the path planning process. Before finalizing the oval path, the system pre-calculates potential collision risks and adjusts path parameters accordingly, enabling reliable obstacle avoidance while maintaining relatively simple planning architecture.
Data Source
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AI summary
A moving path planning apparatus and method for a robot according to the exemplary embodiment of the present disclosure determine an actual moving path using a robot parameter set in advance on the basis of a moving path pattern acquired for every sub region of the map to determine an actual moving path of the robot in consideration of the turning radius of the robot.