Robot Path Planning Using Grid Cost Maps for Smooth Navigation
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Solution Overview
Problem
Current robot path planning methods that combine free navigation and track navigation suffer from speed jumps and inconsistency, leading to reduced flexibility and safety during obstacle avoidance.
Innovation Solution
A method that uses a grid map to determine cost weights for each grid based on obstacle and track positions, generating a grid cost map to plan a global path that seamlessly switches between free and track navigation, ensuring continuous movement and improved safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If free navigation and track navigation are combined to improve navigation flexibility and obstacle avoidance, then navigation adaptability is improved, but speed consistency and movement smoothness deteriorate due to instant switching between navigation methods
Solution Approach 1:
The patent applies dynamics by making the navigation method adjustable and changeable based on real-time conditions. The system dynamically switches between track navigation and free navigation modes depending on obstacle detection, allowing the navigation approach to adapt flexibly to changing environmental conditions while maintaining speed consistency through controlled transition mechanisms
Solution Approach 2:
The patent changes the navigation mode parameter from static to dynamic. By introducing a switchable navigation mode parameter that can transition between track navigation and free navigation states, the system achieves both adaptability to obstacles and speed consistency through regulated parameter transitions rather than abrupt changes
2Loss of time
If instant switching between track navigation and free navigation is implemented to improve obstacle avoidance response, then obstacle avoidance responsiveness is improved, but movement smoothness and consistency deteriorate causing jitter and stopping
Solution Approach 1:
The patent applies beforehand cushioning by preparing transition mechanisms in advance. Before switching between navigation modes, the system pre-regulates the transition process to prevent abrupt changes, cushioning the impact of mode switching on movement smoothness while maintaining responsive obstacle avoidance capability
Solution Approach 2:
The patent ensures continuity of useful action by designing the navigation system to maintain continuous forward progression. The transition between track and free navigation is orchestrated to preserve continuous movement along the overall path toward the destination, preventing interruptions and jitter while maintaining responsiveness to obstacles
Data Source
AI summary
The present disclosure provides a robot path planning method as well as an apparatus and a robot using the same. The method includes: obtaining a grid map and obtaining a position of obstacle and a position of track in the grid map; determining a cost of grids of the grid map based on the position of obstacle and the position of track; generating a grid cost map based on the cost of the grids and the grid map; and planning a global path of the robot from a current position to a destination position based on the grid cost map. In this manner, it effectively integrates free navigation and track navigation, thereby improving the flexibility of obstacle avoidance and ensuring the safety of obstacle avoidance of the robot.