Autonomous Robot Path Planning for Slope Overlap Control
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Solution Overview
Problem
Autonomous robots often miss working areas in high slope scenarios due to a decrease in work overlap value between adjacent path segments, leading to a reduced work coverage ratio in full-coverage mode.
Innovation Solution
A moving path planning method and apparatus for autonomous robots that adjust the width value between adjacent path segments based on terrain distribution information, particularly in slope areas, to maintain a work overlap value within a specified range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed width value is used between adjacent path segments in slope areas, then the path planning is simple, but the work overlap value decreases causing working areas to be missed
Solution Approach 1:
The path planning system dynamically adjusts the width value between adjacent path segments based on real-time slope detection. When a slope is detected, the system automatically modifies the width parameter to compensate for the reduced work overlap, transforming a static path planning approach into an adaptive dynamic system that responds to terrain conditions.
Solution Approach 2:
The system changes the width parameter of path segments in response to detected slope conditions. By modifying this critical parameter based on terrain analysis, the system maintains appropriate work overlap values even in challenging slope scenarios, ensuring complete coverage without requiring complex manual intervention.
2Reliability
If the width value between adjacent path segments is increased to maintain work overlap in slope areas, then working area coverage is improved, but the path length and working time increase
Solution Approach 1:
The system applies local quality by adjusting the width parameter only in specific slope areas where it is needed, rather than uniformly increasing width across the entire working area. This localized adjustment maintains work coverage completeness in critical slope regions while minimizing the overall impact on path length and working time.
Solution Approach 2:
The system makes targeted parameter changes by modifying the width value only when slope conditions are detected in specific areas. This selective parameter adjustment ensures adequate work overlap where needed while avoiding unnecessary increases in path length and working time in flat areas.
3Reliability
If terrain distribution information is used to adjust path segment width, then work overlap is maintained in slope areas, but the system complexity increases
Solution Approach 1:
The system implements feedback by detecting slope conditions in the working area and using this information to adjust the width parameter of path segments. This closed-loop approach ensures work overlap consistency by continuously monitoring terrain conditions and making appropriate adjustments, while keeping the system architecture relatively simple through straightforward sensor-integrator-actuator loops.
Data Source
AI summary
Embodiments of this specification provide an autonomous robot, a moving path planning method and apparatus therefor, and a storage medium. The method includes: obtaining terrain distribution information of a target working area; determining, according to the terrain distribution information, whether a slope area exists in the target working area; and determining, if a slope area exists in the target working area, a width value between adjacent path segments according to the terrain distribution information during planning of a moving path in the slope area, to keep a work overlap value between the adjacent path segments within a specified range.