Robot Path Planning with Corner-Cutting Obstacle Bypass
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Solution Overview
Problem
Existing robot path planning technologies are inefficient in reducing distance and time due to sharp turns and transitions, and fail to effectively avoid obstacles in complex environments.
Innovation Solution
A corner-cutting technique that iteratively identifies and removes sharpest changes in direction along a path, substituting them with shorter bypass segments, ensuring the optimized path avoids obstacles and meets predetermined angle thresholds, using straight-line segments for high computational efficiency and applying smoothing techniques for curved paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional path planning methods are used, then the robot can reach the destination, but the path contains sharp turns and transitions that increase distance and time
Solution Approach 1:
The path is segmented into multiple straight-line segments connected at vertices. The corner-cutting technique further segments the path by inserting additional vertices along existing segments, creating smaller sub-segments that collectively form a smoother, more efficient trajectory while maintaining the overall path structure.
Solution Approach 2:
The optimization operates in the dimensional space of path geometry by adjusting vertex positions and angles. The corner-cutting process modifies the path in the angular dimension by ensuring all vertices meet the minimum angle threshold, transforming sharp corners into gentler transitions that reduce travel distance and time.
2Productivity
If corner-cutting optimization is applied, then path efficiency improves, but the computational complexity increases
Solution Approach 1:
The algorithm performs preliminary corner-cutting optimizations during the path planning phase before the robot executes the path. By pre-optimizing the path geometry and removing sharp corners in advance, the system achieves efficient paths without adding computational burden during real-time robot operation.
Solution Approach 2:
The corner-cutting process applies partial optimization by focusing only on vertices that violate the minimum angle threshold. Rather than reoptimizing the entire path, the algorithm selectively modifies only the necessary portions, reducing computational complexity while still achieving significant path efficiency improvements.
3Stability of the object's composition
If sharp turns are removed from the path, then path smoothness improves, but the path length may increase
Solution Approach 1:
The corner-cutting technique replaces sharp angular transitions with curved-like transitions by inserting intermediate vertices that create gentler angle changes. This geometric transformation smooths the path trajectory, making it more suitable for robotic motion while the iterative optimization ensures the overall path length remains efficient.
Solution Approach 2:
The algorithm changes the geometric parameters of path vertices by adjusting their positions and the angles between connected segments. By modifying vertex coordinates to satisfy minimum angle constraints, the path transitions from sharp, angular geometry to smoother geometry with reduced total length through iterative optimization.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for enhanced path planning. In some implementations, a first path is determined for travel by a robot, the first path extending from an origin to a destination. Path segments are determined based on the first path. A corner between two of the path segments has an angle less than a predetermined threshold is determined. In response to determining that the corner between two of the path segments has an angle less than the predetermined threshold, a bypass path segment is determined that bypasses the corner. A second path for the robot to travel is determined based on the path segments and the bypass path segment. Data indicating the second path is provided to the robot.