Robot Motion Path Planning for Obstacle Interference Avoidance
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Solution Overview
Problem
Existing motion path planning techniques for robots often fail to account for obstacles effectively, leading to potential collisions and inefficient path selection.
Innovation Solution
A motion path setting device and program that includes a candidate obtainer, determiner, and path setter to obtain and evaluate multiple candidate motion paths based on a tentative path, determining interference with obstacles and setting a safe path for the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single shortest tentative motion path is used for robot motion, then the motion efficiency is improved, but the risk of collision with obstacles increases
Solution Approach 1:
The patent segments the motion path planning into multiple candidate paths (first tentative motion path, second tentative motion path, etc.) instead of relying on a single path. Each candidate path is evaluated separately for obstacle interference, allowing the system to select the safest path while maintaining efficiency through parallel evaluation of multiple options.
Solution Approach 2:
The patent performs preliminary interference determination for multiple candidate motion paths before the robot actually executes the motion. By pre-evaluating obstacle interference for each candidate path and pre-setting safe motion paths, the system avoids collision risks without compromising motion efficiency during actual execution.
2Reliability
If multiple candidate motion paths are evaluated for obstacle interference, then the collision safety is improved, but the computational complexity increases
Solution Approach 1:
The patent performs preliminary interference determination for multiple candidate motion paths before the robot actually executes the motion. By pre-evaluating obstacle interference for each candidate path and pre-setting safe motion paths, the system avoids collision risks without compromising motion efficiency during actual execution.
Solution Approach 2:
The motion path setting device automatically generates multiple candidate motion paths and performs interference determination without requiring external intervention. The system self-evaluates the safety of each candidate path and autonomously selects the appropriate path, reducing the need for complex external control systems.
3Loss of time
If the robot follows a direct shortest path, then the motion time is reduced, but the interference with obstacles increases
Solution Approach 1:
The patent segments the motion path planning into multiple candidate paths (first tentative motion path, second tentative motion path, etc.) instead of relying on a single path. Each candidate path is evaluated separately for obstacle interference, allowing the system to select the safest path while maintaining efficiency through parallel evaluation of multiple options.
Solution Approach 2:
The patent performs preliminary interference determination for multiple candidate motion paths before the robot actually executes the motion. By pre-evaluating obstacle interference for each candidate path and pre-setting safe motion paths, the system avoids collision risks without compromising motion efficiency during actual execution.
Data Source
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AI summary
A motion path setting device includes a candidate obtainer, a determiner, and a path setter. The candidate obtainer obtains a plurality of candidate motion paths from a starting point to an ending point of a robot motion based on a first tentative motion path in a multidimensional space being a physical workspace of a robot or a configuration space of the robot. The first tentative motion path is a shortest path connecting the starting point and the ending point. The determiner determines whether the robot interferes with an obstacle on at least one of the plurality of candidate motion paths. The path setter sets a motion path of the robot based on a determination result from the determiner.