Robot Motion Path Prioritization for Obstacle Interference Avoidance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing motion path planning technologies for robots do not effectively address the interference between the robot and obstacles in its environment, leading to inefficient and potentially unsafe motion paths.
Innovation Solution
A motion path setting device that includes a priority setter, a determiner, and a path setter. The priority setter sets the use priority of each candidate motion path, the determiner selects a candidate motion path based on this priority and performs an interference determination process to ensure the robot does not interfere with obstacles, and the path setter sets the final motion path of the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple candidate motion paths are generated for robot motion planning, then the robot has more path options to avoid obstacles, but the computational complexity and time required for path selection increases
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing motion cost values for different motion directions in a lookup table before the robot needs to plan its path. When path planning is required, the system simply queries the pre-computed costs rather than calculating them in real-time, significantly reducing computational complexity while maintaining multiple path options.
Solution Approach 2:
The patent segments the motion planning problem by dividing the continuous motion space into discrete directions and pre-computing costs for each direction independently. This segmentation allows the system to handle multiple candidate paths efficiently by evaluating pre-computed segments rather than performing full path calculations for each option.
2Reliability
If interference determination is performed for all candidate motion paths, then the safety is improved, but the processing time increases
Solution Approach 1:
The system performs preliminary action by pre-calculating motion costs and identifying potential interference zones before the robot executes motion. This advance preparation allows the robot to quickly determine safety for candidate paths without performing complete interference checks for every possible path, reducing processing time while maintaining safety.
Solution Approach 2:
The patent applies partial action by performing interference determination only for the most promising candidate paths based on pre-computed motion costs, rather than checking all possible paths. This selective approach ensures safety for the selected path while minimizing processing time by avoiding exhaustive checking of all candidates.
3Productivity
If the robot selects the shortest motion path, then the operational efficiency is improved, but the risk of interference with obstacles increases
Solution Approach 1:
The patent applies parameter changes by introducing a motion cost parameter that combines both path length and interference risk into a single evaluation metric. The robot selects paths based on minimizing this composite cost rather than simply choosing the shortest geometric path, thereby balancing operational efficiency with safety by adjusting the evaluation parameters to consider both factors.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A motion path setting device includes a priority setter, a determiner, and a path setter. The priority setter sets a use priority of each of a plurality of candidate motion paths. The determiner selects at least one candidate motion path of the plurality of candidate motion paths based on the use priority and performs an interference determination process to determine whether a robot interferes with an obstacle for the selected at least one candidate motion path. The path setter sets a motion path of the robot based on a candidate motion path of the plurality of candidate motion paths on which the robot is determined not to interfere with the obstacle by the determiner.