Robot Motion Path Planning Around Obstacles
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Solution Overview
Problem
Existing motion path planning techniques for robots often fail to account for obstacles in the workspace, leading to potential collisions and inefficient path selection.
Innovation Solution
A motion path setting device that includes a candidate obtainer, determiner, and path setter to obtain and evaluate multiple candidate paths based on a tentative path, determining interference with obstacles, and setting a final path that avoids collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single shortest tentative motion path is used, then the path length is minimized, but the robot may collide with obstacles
Solution Approach 1:
The patent segments the single motion path into multiple candidate paths by generating variations of the shortest path. The candidate path generation unit creates multiple paths by introducing intermediate points and varying path parameters, allowing the system to evaluate different route options while maintaining efficiency.
Solution Approach 2:
The patent performs preliminary action by generating multiple candidate paths before the robot actually moves. The system pre-calculates and evaluates various potential paths, identifying safe routes in advance, which allows the robot to execute the selected path without real-time collision risk.
2Reliability
If multiple candidate motion paths are generated and evaluated, then collision avoidance is improved, but the computational complexity increases
Solution Approach 1:
The patent applies local quality by focusing computational resources on evaluating only the most critical path characteristics. Instead of exhaustively analyzing all possible paths, the system evaluates candidate paths based on key parameters such as obstacle proximity and geometric feasibility, reducing overall computational complexity while maintaining safety.
Solution Approach 2:
The patent uses copying by generating candidate paths that are variations or copies of the shortest path rather than completely new paths. This approach reuses the fundamental structure of the shortest path and introduces only necessary modifications, significantly reducing the computational burden compared to generating entirely independent paths.
3Measurement precision
If multiple candidate motion paths are generated, then path selection accuracy is improved, but the processing time increases
Solution Approach 1:
The patent applies partial action by generating a limited number of candidate paths that are sufficient for making an accurate selection, rather than exhaustively generating all possible paths. The system identifies and evaluates only the most promising candidate paths based on the shortest path, achieving adequate precision without excessive processing time.
Data Source
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.