Mobile Robot Path Planning Across Multiple Reference Frames
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing path planning methods for driverless mobile robots require the robot to stop when switching between different reference systems, such as environment-related and object-related systems, or when transitioning between multiple environment maps, leading to inefficiencies and discontinuities in navigation.
Innovation Solution
A method that transforms poses and path segments from different reference systems into a common reference system, allowing continuous path planning without stopping, by aligning poses and path segments based on predetermined relations such as identity of end or actual poses, enabling seamless transitions between reference systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot switches between different reference systems or environment maps during navigation, then it can navigate to targets specified in different reference frames, but the robot has to stop when switching from one path to the other or from one reference frame to the other
Solution Approach 1:
The patent introduces a common reference system as an intermediary coordinate system that both the first and second reference systems can be transformed into. This mediator enables continuous path planning by providing a unified framework for path calculation across reference frame boundaries, eliminating the need for the robot to stop during transitions.
Solution Approach 2:
The patent performs preliminary transformation of poses and path segments into the common reference system before path planning. By pre-aligning all coordinate data to a unified reference frame, the system prepares the navigation data in advance, allowing continuous path execution without interruptions during reference frame switching.
2Quantity of substance
If the environment is divided into multiple environment-related reference systems or environment maps for storage reasons, then storage efficiency is improved, but it is currently not possible to plan a continuous path across two or more reference systems
Solution Approach 1:
The common reference system serves as a mediator that connects multiple environment maps. By transforming poses and path segments from different environment maps into this unified reference system, the patent enables continuous path planning across map boundaries while maintaining the storage efficiency of divided environment data.
Solution Approach 2:
The patent accepts the segmentation of the environment into multiple maps for storage efficiency and compensates by introducing a common reference system that integrates these segmented representations. This allows the system to maintain both the storage benefits of divided maps and the operational continuity of seamless path planning.
Data Source
Figure 1~3
AI summary
The invention relates to a method for planning a path of a driverless mobile robot for approaching a second pose specified in a second reference system, from a first pose specified in a first reference system, comprising the steps: - transforming the one of the first and second pose in a common reference system, in which the other of the first and second pose is also described, and - planning a transition path from the first pose to the second pose in said common reference system on the basis of the first and second pose described in said common reference system.