Robot Navigation Using 2D-3D Path Planning in Confined Spaces
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Solution Overview
Problem
Robots face challenges in navigating complex environments due to the limitations of existing 2D path planning methods, which may fail to identify collision-free paths, especially in confined spaces, and require excessive computational resources for 3D analysis.
Innovation Solution
Implementing a dynamic switching mechanism between 2D and 3D path planning, where 2D planning is used for computational efficiency in open spaces and 3D planning is employed when 2D analysis fails to identify a collision-free path, allowing for more accurate navigation through confined spaces by evaluating the 3D shapes of the robot and obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If 2D path planning is used for computational efficiency, then processing speed and energy consumption are improved, but navigation accuracy in confined spaces deteriorates
Solution Approach 1:
The system dynamically switches between 2D and 3D path planning modes based on real-time environmental conditions. When the robot encounters confined spaces or complex obstacle configurations, it transitions from 2D to 3D planning to maintain accuracy while preserving computational efficiency in open spaces.
Solution Approach 2:
The path planning process is segmented into two distinct stages: initial 2D path generation for rapid exploration, followed by selective 3D refinement only in critical regions where collision risk exists. This segmentation allows the system to benefit from both fast 2D planning and accurate 3D verification.
2Reliability
If 3D path planning is used for accurate collision detection, then navigation reliability is improved, but computational load and energy consumption increase
Solution Approach 1:
Instead of performing full 3D path planning throughout the entire navigation process, the system applies 3D analysis partially and selectively only when 2D planning identifies potential collision risks. This partial application of the more computationally intensive method maintains reliability while minimizing energy consumption.
Solution Approach 2:
The system performs preliminary 2D path planning to identify potential collision scenarios before initiating computationally expensive 3D analysis. This preliminary action filters out most path planning tasks that can be safely resolved in 2D, preventing unnecessary 3D computations and energy waste.
3Productivity
If 2D occupancy grid is used to map object positions, then computational efficiency is improved, but ability to detect narrow passable areas deteriorates
Solution Approach 1:
The system transitions from 2D occupancy grid representation to 3D spatial modeling when navigating confined spaces. By adding the vertical dimension to the path planning process, the robot can accurately assess whether its physical dimensions allow passage through narrow areas that appear blocked in 2D projections.
Data Source
AI summary
Methods, systems, and apparatus, including computer-readable storage devices, for robot navigation using 2D and 3D path planning. In the disclosed method, a robot accesses map data indicating two-dimensional layout of objects in a space and evaluates candidate paths for the robot to traverse. In response to determining that the candidate paths do not include a collision-free path across the space for a two-dimensional profile of the robot, the robot evaluates a three-dimensional shape of the robot with respect to a three-dimensional shape of an object in the space. Based on the evaluation of the three-dimensional shapes, the robot determines a collision-free path to traverse through the space.