Robot Path Planning with Constraint-Based Method Switching
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Solution Overview
Problem
Existing path planning methods for robot arms often result in delayed start of operations due to increased time required for generating paths that avoid obstacles, especially when inappropriate methods are applied, leading to inefficient movement planning.
Innovation Solution
A path planning apparatus and method that utilize multiple path planning units corresponding to different constraints, such as positional relationships and obstacle types, to generate paths efficiently by switching between methods based on the degree of movement limitation caused by obstacles, thereby optimizing path generation time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single path planning method is used for all obstacle scenarios, then the system complexity is low, but the path generation time increases and robot operation efficiency decreases
Solution Approach 1:
The path planning system is segmented into multiple specialized path planning units, each designed to handle specific obstacle scenarios. The controller divides the path planning task by selecting appropriate units based on obstacle characteristics, thereby improving path generation speed without requiring a single complex universal planner.
Solution Approach 2:
The system dynamically selects and switches between different path planning methods based on real-time obstacle characteristics and robot states. This dynamic adaptation allows the system to use the most efficient planning method for each specific scenario, resolving the contradiction between speed and complexity.
2Productivity
If multiple path planning units are introduced to handle different constraints, then path generation efficiency improves, but the device complexity increases
Solution Approach 1:
The controller serves as a universal coordinating component that manages multiple specialized path planning units. Each unit is optimized for specific constraints (e.g., point obstacles, line obstacles, area obstacles), and the controller selects the appropriate unit based on obstacle characteristics, achieving high efficiency without requiring each unit to handle all scenarios independently.
3Loss of time
If an inappropriate path planning method is applied to a given obstacle scenario, then the path generation time increases, but the system remains simple
Solution Approach 1:
The controller receives feedback about obstacle characteristics (type, position, shape) and uses this information to select the most appropriate path planning unit. This feedback mechanism ensures that the correct planning method is applied to each obstacle scenario, minimizing path generation time while maintaining system adaptability across different obstacle types.
Data Source
AI summary
A path planning apparatus is provided with a path planning unit 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 that acquires posture information indicating an initial posture of a robot for which a path is to be generated and a target posture of the robot, and obstacle information indicating a target obstacle that obstructs movement of the robot from the initial posture to the target posture, and a controller that controls the path planning unit so as to generate a path of the robot using a path planning method corresponding to a constraint determined from the posture information and the obstacle information acquired by the acquisition unit.