Robot Path Planning Using Constraint-Specific Algorithms
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Solution Overview
Problem
Existing path planning methods for robots often require excessive time due to inappropriate constraints, leading to delays in robot operations when navigating around obstacles.
Innovation Solution
A path planning apparatus and method that utilize multiple path planning algorithms tailored to different constraints, such as PRM and CHOMP, to efficiently generate paths for robots by segmenting the movement based on the degree of obstacle limitation, using a first path planning unit for severe constraints and a second for less severe constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If a single path planning method is used for all constraints, then the system is simple to implement, but the path generation time increases when constraints are severe
Solution Approach 1:
The path planning system is segmented into multiple path planning units, each dedicated to handling specific constraint types (e.g., severe constraints, moderate constraints, mild constraints). This segmentation allows each unit to use optimized algorithms tailored to its constraint category, reducing overall path generation time while maintaining manageable system complexity through modular architecture.
2Productivity
If multiple path planning methods are used for different constraints, then the path generation efficiency improves, but the device complexity increases
Solution Approach 1:
Different path planning methods with appropriate complexity levels are assigned to different constraint scenarios. For severe constraints, more sophisticated methods are used, while for mild constraints, simpler methods suffice. This local quality approach optimizes path generation efficiency for each specific situation without unnecessarily increasing system complexity across all scenarios.
Solution Approach 2:
The path planning system dynamically selects and switches between different path planning methods based on the current constraint conditions. This dynamic adaptation allows the system to maintain high productivity by using the most appropriate method for each situation while keeping the overall system design flexible and manageable.
3Reliability
If path planning is performed for the entire path, then complete path coverage is achieved, but the computation time increases
Solution Approach 1:
The complete path from start to goal is segmented into multiple sub-paths based on constraint characteristics. Each path planning unit handles specific segments corresponding to different constraint zones. This segmentation ensures complete path coverage for reliability while reducing computation time by allowing parallel processing of segments and avoiding redundant calculations across the entire path.
Data Source
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AI summary
Provided are a path planning apparatus, a method, and a program that can shorten the time required for generating path of a robot. A path planning apparatus 10 is provided with a path planning unit 31 that generates a path of a robot using a plurality of different path planning methods that respectively correspond to a plurality of different constraints determined from the posture of the robot and the characteristics of one or more obstacles that obstruct movement of the robot, an acquisition unit 30 that acquires posture information indicating an initial posture of a robot RB for which a path is to be generated and a target posture of the robot RB, and obstacle information indicating a target obstacle that obstructs movement of the robot RB from the initial posture to the target posture, and a controller 36 that controls the path planning unit 31 so as to generate a path of the robot RB using a path planning method corresponding to a constraint determined from the posture information and the obstacle information acquired by the acquisition unit 30.