Robot Path Planning with Dynamic Constraint Projection
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Solution Overview
Problem
Current path planning algorithms for robots, such as the RRT algorithm, do not effectively consider dynamic constraints like speed and balance during path generation, leading to decreased convergence speed and failure to satisfy constraints in dynamic states, especially when dealing with increased dimensions or tasks requiring balance and speed.
Innovation Solution
A method and apparatus for planning a robot's path that incorporates dynamic constraints by forming a configuration space with a start and goal point, sampling and projecting points to satisfy obstacle avoidance and dynamic stability, using Center Of Gravity (COG) and Zero Moment Position (ZMP) to ensure static and dynamic stability, thereby generating a path that balances kinematic and dynamic constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the RRT algorithm selects a closest node without considering dynamic constraints to extend a tree, then the path generation process is simple and fast, but the convergence speed decreases and the path planning time increases when dynamic constraints are later adjusted
Solution Approach 1:
The patent applies preliminary action by projecting samples according to dynamic constraints (speed and balance) before extending the tree. This means the dynamic constraint satisfaction is performed in advance during the sampling phase, rather than as a post-processing step. The projection operation ensures that only dynamically feasible configurations are added to the tree, preventing the need for later path regeneration and improving overall planning efficiency
Solution Approach 2:
The patent incorporates dynamics by explicitly considering dynamic constraints (speed and balance) in the path planning process. The auto-balancer is integrated into the tree extension process, and dynamic feasibility is checked during sampling. This makes the path planning algorithm dynamically aware, allowing it to generate paths that satisfy both geometric and dynamic constraints simultaneously
2Reliability
If torque constraint is considered by calculating torque of selected nodes and discarding nodes that do not satisfy the constraint, then torque constraint is satisfied, but the convergence speed decreases when dimensions are increased
Solution Approach 1:
The patent extracts the dynamic constraint checking from the node evaluation process and performs it during the sampling phase through projection. Instead of calculating torque for every selected node and discarding invalid ones (which slows convergence), the method projects samples to ensure dynamic feasibility before they are considered for tree extension. This extraction of the constraint satisfaction step from the main loop preserves convergence speed while maintaining reliability
Data Source
AI summary
An apparatus, method and computer-readable medium planning a path of a robot by planning an optimal path while satisfying a dynamic constraint. In a process of searching for a motion path from a start point to a goal point while extending a tree from a start point of a configuration space to generate a path, along which a manipulator of the robot is moved in order to perform a task, an optimal path is generated responsive to the dynamic constraint of the manipulator of the robot to generate stable motion satisfying momentum and Zero Moment Position (ZMP) constraint. Accordingly, path planning performance is improved and a path satisfying a kinematic constraint and a dynamic constraint is rapidly obtained.