Robot Obstacle Avoidance via Outer-Edge Path Following
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Solution Overview
Problem
Existing sweeping robots cannot effectively navigate around obstacles that cannot be measured by their laser distance sensors, leading to reduced operation efficiency and continuity, as they often stop running or continue traveling inefficiently.
Innovation Solution
The robot determines a target traveling position and an avoidance mode, then controls itself to travel along the outer edge of an obstacle if it exists between the current position and the target, bypassing the obstacle by monitoring distance and adjusting its path accordingly, thus avoiding energy wastage and expanding its operational range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses LDS and ultrasonic sensor to detect obstacles, then it can identify obstacles within measurement range, but it cannot detect obstacles that are below the measurement height range, resulting in stopping running
Solution Approach 1:
The patent segments obstacle detection into two categories: detectable obstacles (within measurement range) and undetectable obstacles (below measurement range). For undetectable obstacles, the system segments the path into outer edge traversal segments, allowing the robot to bypass obstacles by following the perimeter rather than attempting direct detection and crossing.
Solution Approach 2:
The patent transitions from a one-dimensional detection approach (vertical height measurement by LDS) to a two-dimensional path planning approach (traversing along the outer edge of obstacles). This dimensional shift allows the robot to navigate around obstacles that cannot be detected by vertical height measurement alone.
2Productivity
If the robot continues traveling directly towards target position, then it maintains simple path following, but it wastes energy when obstacles are present and cannot be avoided
Solution Approach 1:
The patent implements feedback by continuously monitoring the robot's position relative to the target and detecting obstacles along the path. When an obstacle is detected, the system feedbacks this information to the path planning module, which then adjusts the trajectory to traverse along the outer edge, optimizing energy consumption by avoiding unnecessary detours while ensuring obstacle avoidance.
Solution Approach 2:
The patent applies dynamics by making the travel path adaptive rather than fixed. The path planning dynamically adjusts between direct path following (when no obstacles present) and outer edge traversal (when obstacles detected), allowing the robot to optimize energy consumption based on real-time environmental conditions.
3Reliability
If the robot traverses along the outer edge of obstacles, then it successfully bypasses undetectable obstacles, but it increases path length and travel time
Solution Approach 1:
The patent applies partial action by selectively traversing along the outer edge only for the portion of the path where obstacles are present, rather than always following perimeters. When obstacles are absent, the robot returns to direct path following, thus minimizing the time penalty while ensuring reliable obstacle avoidance when needed.
Data Source
AI summary
An obstacle avoidance method for a robot, an obstacle avoidance apparatus for a robot, a robot, a computer-readable storage medium, and an electronic device are disclosed. The obstacle avoidance method for a robot includes: determining a target traveling position of the robot determining an avoidance mode of the robot and controlling the robot to travel along an outer edge of a first obstacle so as to bypass the first obstacle, in response to detecting that the first obstacle exists between a current position of the robot and the target traveling position during traveling of the robot, where the height of the first obstacle is less than a measurement height range of the robot. The operational efficiency of the robot can be improved, and the operational continuity of the robot can be enhanced.