Robot Motion Planning Hints for Collision-Free Path Generation

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Solution Overview

Problem

Current computer-aided design (CAD) tools for motion planning in autonomous systems often result in inefficient or undesirable robot motions, particularly in dynamic environments where collisions can occur.

Innovation Solution

The development of user interface tools that utilize planning hints to define poses and locations within a work environment, allowing for the generation of collision-free paths for robots to move from an initial pose to a target pose.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If preprogramming is used for robot motions in dynamic environments, then the robot can operate autonomously, but collisions or undesirable robot poses may occur

Engineering Contradiction:

Improveautonomous operationVSAvoidcollision-free operation

Core Design Contradiction:

Extent of automationVSReliability

Solution Approach 1:

The system performs preliminary motion planning by generating multiple candidate paths before execution, using planning hints to pre-identify safe poses and locations. This advance preparation allows the robot to select collision-free paths during autonomous operation without real-time computation delays.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

Planning hints serve as intermediary elements that mediate between the robot's motion planning and the dynamic environment. These hints provide pre-validated safe poses and locations that guide the robot through complex environments, reducing the risk of collisions during autonomous operation.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Ease of operation

If current CAD tools are used for motion planning, then the robot can be programmed to move, but the resulting motions are inefficient or undesirable

Engineering Contradiction:

Improvemotion planning capabilityVSAvoidmotion efficiency

Core Design Contradiction:

Ease of operationVSProductivity

Solution Approach 1:

The system applies local quality by providing specialized planning hint information at specific locations and poses within the workspace. Rather than using uniform motion planning throughout, the robot receives targeted guidance at critical positions, improving overall motion efficiency while maintaining ease of operation.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The system changes motion planning parameters by introducing planning hints that define specific poses and locations. This transforms the motion planning from generic CAD tool output to optimized paths that consider efficiency metrics, while the underlying ease of operation is maintained through the same interface paradigm.

Inventive Principle:

Principle #35Parameter changes

3Reliability

If multiple planning hints are used to generate multiple paths, then collision-free paths can be found, but the computational complexity increases

Engineering Contradiction:

Improvecollision-free path generationVSAvoidcomputational complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system performs preliminary filtering of planning hints to identify only those that are likely to lead to collision-free paths. By pre-processing and organizing planning hint data before path generation, the system reduces the computational burden of evaluating multiple paths while maintaining high reliability in finding collision-free solutions.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS20250108504A1Planning hint generation for collision free motions

Publication Date: 2025.04.03 SIEMENS AG

AI summary

A system can define planning hints that indicate where a robot can be moved or positioned. Collision-free paths for the robot can be generated using the planning hints.