Service Robot Relocalization After False Obstacle Detection
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Solution Overview
Problem
Mobile service robots face challenges in efficiently recovering from path blockages due to delocalization, where they rely on uncertain or erroneous location information, leading to incorrect perception of obstacles.
Innovation Solution
The service robot employs a delocalization recovery system that includes a travel impediment detector, robot delocalization detection module, and relocalization module to identify and correct its location using multiple sensors and localization models, enabling it to reorient and resume travel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the service robot uses localization models to determine its position, then it can navigate autonomously, but it may become delocalized and perceive false obstacles
Solution Approach 1:
The system implements feedback by continuously comparing the robot's current position estimate from localization models with expected position based on travel path and detected features. When discrepancies are detected (delocalization), the system triggers relocalization operations to correct the position estimate, ensuring reliable autonomous navigation.
Solution Approach 2:
The system performs preliminary delocalization detection before the robot becomes completely lost. By continuously monitoring position consistency and detecting early signs of delocalization, the system can trigger relocalization operations proactively, preventing complete navigation failure and maintaining reliable operation.
2Measurement precision
If the service robot performs relocalization operations to correct delocalization, then location accuracy improves, but navigation time increases
Solution Approach 1:
The system applies partial relocalization by using selective feature matching and comparison rather than complete re-mapping. Instead of performing full relocalization operations, the system uses targeted comparisons between current sensor data and stored map features to correct position estimates, reducing computation time while maintaining accuracy.
Solution Approach 2:
The system skips unnecessary relocalization steps by first checking for delocalization conditions and only performing full relocalization when needed. The system rushes through the correction process by using efficient feature matching algorithms that quickly identify and correct position errors without exhaustive search, minimizing navigation time loss.
3Reliability
If the service robot detects travel impediments continuously, then navigation safety improves, but computational load increases
Solution Approach 1:
The system segments obstacle detection into multiple stages: initial travel path monitoring, delocalization detection, and detailed impediment analysis. By dividing the detection process into segments triggered only when needed (e.g., when delocalization is detected), the system maintains reliable obstacle detection while reducing overall computational energy consumption compared to continuous full-scale analysis.
Data Source
AI summary
A computer-implemented method and apparatus to recover travel of a service robot, the method comprising: detecting a travel impediment relating to a first travel path to a destination for the service robot; responsive to detecting the travel impediment relating to the first travel path to the destination, determining that the service robot is delocalized by performing a comparison between a first pose estimate for the service robot and a second pose estimate for the service robot; responsive to determining that the service robot is delocalized, performing a relocalization operation of the service robot; and responsive to performing the relocalization operation of the service robot, initiating a second travel path to the destination.