Robot Navigation Callbacks Using Topological Map Annotations
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Solution Overview
Problem
Existing robotic navigation systems face challenges in executing missions effectively due to the inability to handle unforeseen obstacles and the complexity of creating special-purpose actions, as they require access to the underlying functionality of the route executor and intimate knowledge of the source code, making it difficult for end users to define additional actions.
Innovation Solution
The implementation of a system that uses a topological map to automatically trigger calls to separate navigation callback services, allowing the robot to perform special functions such as navigating through doors or avoiding obstacles, by annotating edges and waypoints with service names and data needed for execution, enabling the robot to execute mission-specific actions without requiring access to the route executor's source code.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot navigation system uses a traditional route executor with hardcoded navigation logic, then the navigation path can be executed, but the system cannot handle unforeseen obstacles and requires access to source code for custom actions
Solution Approach 1:
The patent segments the navigation system into distinct components: a route executor that handles path following and separate callback services that handle special actions. This segmentation allows the system to maintain a simple route executor while adding adaptability through modular callback services that can be independently configured and executed based on environmental conditions.
Solution Approach 2:
The patent introduces callback services as intermediary components between the route executor and the environment. These callback services act as mediators that receive notifications from the route executor and can trigger special actions when specific conditions are met, enabling the system to handle unforeseen obstacles without modifying the core route execution logic.
2Adaptability or versatility
If the system requires access to route executor source code to define special actions, then custom navigation behaviors can be implemented, but end users face difficulty in defining additional actions
Solution Approach 1:
The patent implements a self-service mechanism where the system automatically manages the execution of callback services based on predefined conditions and annotations in the topological map. Users can define custom actions by simply annotating map elements with service identifiers, and the system automatically triggers the appropriate callback services without requiring users to access or modify source code, making the system both adaptable and user-friendly.
Solution Approach 2:
The patent employs preliminary action by pre-configuring callback services and associating them with specific map elements during map creation. The conditions for triggering these services are established in advance through annotations, allowing the system to automatically execute appropriate custom actions when conditions are met during navigation, eliminating the need for real-time programming or source code access.
3Ease of manufacture
If the navigation system integrates all navigation logic in one module, then the system structure is simple, but it becomes difficult to maintain and update navigation behaviors
Solution Approach 1:
The patent divides the navigation system into a route executor module and separate callback service modules. Each callback service is an independent, self-contained unit that handles specific special actions. This segmentation allows individual services to be maintained, updated, or replaced without affecting the core route execution logic or other callback services, significantly improving system maintainability while introducing modular architecture.
Solution Approach 2:
The patent creates a universal callback service interface that can handle multiple types of navigation scenarios through a standardized mechanism. The route executor uses the same callback notification system for all types of special actions, and callback services follow a common interface pattern. This universality allows the system to maintain simplicity in its core architecture while supporting diverse and extensible navigation behaviors through modular services.
Data Source
AI summary
One disclosed method involves at least one application controlling navigation of a robot through an environment based at least in part on a topological map, the topological map including at least a first waypoint, a second waypoint, and a first edge representing a first path between the first waypoint and the second waypoint. The at least one application determines that the topological map includes at least one feature that identifies a first service that is configured to control the robot to perform at least one operation, and instructs the first service to perform the at least one operation as the robot travels along at least a portion of the first path.