Robot Path Planning Using Pre-computed Motion Database
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Solution Overview
Problem
Conventional robot path planning methods, such as the RRT algorithm, require extensive computation and time, especially for high-dimensional spaces, leading to inefficient path generation and long planning times.
Innovation Solution
The proposed method employs a parallel algorithm and a variable motion database to generate and store robot paths, selecting paths with minimal operation range and obstacle constraints, allowing for pre-planning and smoothing of robot motions while in operation, thereby reducing path planning time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the conventional RRT algorithm is used to search the entire space for path planning, then the robot can find a valid path avoiding obstacles, but the path planning time becomes excessively long
Solution Approach 1:
The patent pre-calculates and stores motion parameters for various configuration space nodes in a database before actual path planning is needed. When planning a path, the system retrieves pre-computed motion parameters instead of calculating them in real-time, significantly reducing path planning time while ensuring valid obstacle-free paths through the pre-validated motion database
Solution Approach 2:
The patent applies different processing strategies to different regions of the configuration space. High-dimensional spaces with complex obstacles use the optimized RRT algorithm with database lookup, while simpler regions use direct path planning. This localized approach ensures reliability in complex regions while reducing time loss in simpler regions
2Adaptability or versatility
If the RRT algorithm performs extensive calculations for high-dimensional configuration spaces, then complete path coverage is achieved, but the computational time increases significantly
Solution Approach 1:
Motion parameters for all possible configuration space nodes are pre-calculated and stored in a database during system initialization. This preliminary computation phase performs the extensive calculations needed for high-dimensional spaces once, then retrieves results during actual path planning, achieving complete path coverage without repeated computational overhead
Solution Approach 2:
The patent creates a database copy of all motion parameters and configuration space information. Instead of recalculating paths from scratch, the system copies relevant pre-computed motion parameters from the database for each path planning task, maintaining comprehensive path coverage while dramatically reducing computational time
3Ease of operation
If the robot performs real-time path planning for each motion, then the path is optimized for current conditions, but the robot experiences delays in execution
Solution Approach 1:
The system pre-calculates motion parameters and stores them in a database before the robot begins operation. During motion execution, the robot retrieves pre-optimized paths based on its current configuration, achieving both path optimization for current conditions and fast execution without real-time calculation delays
Solution Approach 2:
The patent implements a feedback mechanism where the robot queries the database using its current configuration as input parameters. The system retrieves pre-computed motion parameters specific to the robot's current state, ensuring path optimization adapts to current conditions while maintaining fast execution speed through database lookup rather than real-time calculation
Data Source
AI summary
A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.