Robot Path Planning with Mollifier Smoothing and Time Adjustment
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Solution Overview
Problem
Existing robot operation planning methods fail to effectively satisfy conditions regarding maximum allowable speed and acceleration without interfering with obstacles during path planning.
Innovation Solution
An operation planning apparatus and method that generates a non-interference path, spatially smooths it using a mollifier function, and adjusts temporary times to ensure the robot's operation speed and acceleration comply with predetermined limits, preventing interference with obstacles by iteratively refining the smoothing range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a non-interference path is generated to avoid obstacles, then the robot can operate safely without collision, but the path may not satisfy maximum allowable speed and acceleration conditions
Solution Approach 1:
The path planning is divided into multiple stages: first generating a non-interference path to avoid obstacles, then separately optimizing speed and acceleration parameters. This segmentation allows each aspect to be handled independently, ensuring both safety and performance requirements are met.
Solution Approach 2:
The patent dynamically adjusts the operation parameters by calculating temporary times for main points and iteratively optimizing the path to satisfy both obstacle avoidance and kinematic constraints (maximum speed and acceleration). The system adapts the path based on real-time constraint satisfaction rather than using fixed parameters.
2Stability of the object's composition
If the path is smoothed spatially to improve operation quality, then the robot movement becomes more stable, but the operation speed may exceed maximum allowable acceleration
Solution Approach 1:
The patent applies parameter changes by using a mollifier function to spatially smooth the path, transforming the geometric parameters of the trajectory. This smoothing operation improves path continuity and stability while the system subsequently adjusts temporal parameters to ensure acceleration constraints are satisfied.
Solution Approach 2:
The system employs feedback mechanisms by iteratively checking whether the smoothed path satisfies acceleration constraints and adjusting the temporary times of main points accordingly. If acceleration limits are exceeded, the system refines the path further until both smoothness and acceleration constraints are satisfied.
3Reliability
If temporary time is prolonged to satisfy acceleration constraints, then the robot operates within safe acceleration limits, but the overall operation time increases
Solution Approach 1:
The patent applies partial action by selectively prolonging temporary times only for specific main points where acceleration constraints are violated, rather than uniformly increasing time for the entire path. This targeted approach minimizes the overall time increase while ensuring constraint satisfaction at critical points.
Solution Approach 2:
The system performs preliminary calculation of temporary times for all main points before execution, identifying which points require time adjustment to satisfy acceleration constraints. This advance planning allows the system to minimize total operation time while ensuring all constraints are met during actual execution.
Data Source
AI summary
An operation planning apparatus 1 of a robot 100 includes a non-interference path generation unit 3 and a time determination unit 5 configured to generate a time-space path. The time determination unit 5 includes a temporary time setting unit 8 configured to set, for each main point, temporary time in such a way that an operation speed does not exceed a maximum allowable speed between the plurality of main points; and a temporary time adjustment unit 9 configured to spatially smooth the spatial smoothing path in a first smoothing range that includes the main point using a mollifier function, and prolong, if the operation speed exceeds the maximum allowable acceleration in the first smoothing range, the temporary time of the plurality of main points after the main point in such a way that the operation speed does not exceed the maximum allowable acceleration in the first, smoothing range.