Robot Path Planning Using Access Score Collision Filtering
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Solution Overview
Problem
Conventional robot path planning methods struggle to precisely select a grasp path that avoids obstacles, leading to difficulties in safe and precise object transfer.
Innovation Solution
A path planning method for robots that involves judging collision with obstacles, calculating an access score using a function based on minimum distance and robot arm length, and iteratively selecting and evaluating access path candidates to determine a safe and effective grasp path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If only collision avoidance is considered for path selection, then the robot can avoid obstacles, but the precision of path selection deteriorates
Solution Approach 1:
The patent introduces an access score parameter that combines multiple factors (collision risk, distance to object, path length) into a single quantitative metric. This allows the system to evaluate and compare different access paths objectively, transforming the qualitative path selection process into a precise quantitative comparison based on calculated scores.
Solution Approach 2:
The system performs preliminary collision judgment for all candidate paths before final selection. By pre-evaluating collision risks and calculating access scores for all possible paths, the system eliminates paths that fail collision checks and selects the optimal path from remaining candidates, ensuring both safety and precision.
2Measurement precision
If multiple access path candidates are evaluated, then path selection precision improves, but computational complexity increases
Solution Approach 1:
The path selection process is segmented into distinct stages: collision judgment phase and scoring phase. The system first filters candidate paths by checking collision conditions, then calculates access scores only for non-colliding paths. This segmentation reduces computational complexity by eliminating unnecessary calculations for paths that fail the collision check.
Solution Approach 2:
The system generates multiple access path candidates (excessive action) to ensure comprehensive coverage, but only performs full scoring calculations on a subset of candidates that pass the collision filter (partial action). This approach balances thoroughness with computational efficiency.
Data Source
AI summary
A path planning apparatus and method of a robot, in which a path, along which the robot accesses an object to grasp the object, is planned. The path planning method includes judging whether or not a robot hand of a robot collides with an obstacle when the robot hand moves along one access path candidate selected from plural access path candidates along which the robot hand accesses an object to grasp the object, calculating an access score of the selected access path candidate when the robot hand does not collide with the obstacle, and determining an access path plan using the access score of the selected access path candidate.