Robot Path Planning With 2D-3D Switching for Confined Navigation

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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

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 the robot to switch to 3D analysis only when necessary, using a minimum 2D profile to determine potential paths and then refining with 3D analysis to ensure navigation through confined areas.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If 2D path planning is used, then computational efficiency is improved, but navigation accuracy in confined spaces deteriorates

Engineering Contradiction:

Improvecomputational efficiencyVSAvoidnavigation accuracy

Core Design Contradiction:

ProductivityVSReliability

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 obstacles where 2D planning fails to find a collision-free path, it transitions to 3D path planning for more accurate navigation, then returns to 2D mode when conditions improve, optimizing both computational efficiency and navigation accuracy adaptively

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the dimensional parameter of path planning from 2D to 3D based on environmental complexity. By adjusting the planning dimension parameter, the robot can switch between computationally efficient 2D planning for open spaces and more accurate 3D planning for confined spaces, resolving the contradiction between speed and accuracy

Inventive Principle:

Principle #35Parameter changes

2Reliability

If 3D path planning is used, then navigation accuracy in confined spaces is improved, but computational resource consumption increases

Engineering Contradiction:

Improvenavigation accuracyVSAvoidcomputational resource consumption

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The path planning process is segmented into different dimensional levels. The system primarily uses computationally lightweight 2D path planning for general navigation and only activates resource-intensive 3D path planning when specifically needed in confined spaces or when 2D planning fails, thereby reducing overall computational resource consumption while maintaining navigation accuracy when required

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of continuously performing full 3D path planning, the system applies 3D analysis partially and selectively only when environmental conditions demand it (confined spaces, complex obstacles). This partial application of the more accurate but resource-intensive 3D method reduces overall computational burden while maintaining navigation reliability when needed

Inventive Principle:

Principle #16Partial or excessive action

3Loss of energy

If 2D path planning is used, then power consumption is reduced, but ability to navigate complex environments deteriorates

Engineering Contradiction:

Improvepower consumptionVSAvoidnavigation capability

Core Design Contradiction:

Loss of energyVSAdaptability or versatility

Solution Approach 1:

The robot employs a dynamic path planning system that adapts its dimensional approach based on environmental complexity. In simple open spaces, it uses power-efficient 2D planning; when encountering confined spaces or complex obstacles, it dynamically transitions to 3D planning to maintain navigation capability, thus optimizing power consumption while preserving adaptability to various environments

Inventive Principle:

Principle #15Dynamics

4Reliability

If 3D path planning is used continuously, then collision-free path identification is improved, but computational time increases

Engineering Contradiction:

Improvecollision-free path identificationVSAvoidcomputational time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The path planning process is divided into sequential stages: first attempting rapid 2D path planning for initial collision-free path identification, then selectively transitioning to 3D path planning only if the 2D approach fails or the environment is known to be complex. This segmented approach reduces computational time while maintaining reliable collision-free path identification when needed

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS11554488B2Robot navigation using 2D and 3D path planning

Publication Date: 2023.01.17 GDM HOLDING LLC

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.