Robot Relocalization Path Planning Across Disconnected Grid Areas
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Solution Overview
Problem
Existing navigation methods for robots, such as SLAM technology, often fail to plan feasible paths when a robot is moved from its original position and needs to relocalize, especially when it is outside the mapped area, leading to navigation failures due to unknown areas and separation from the known grid.
Innovation Solution
A navigation method that involves judging the robot's connection to a preset known grid area using area judgment methods, marking pre-configured passable grids within the detectable distance, and using incremental heuristic search algorithms to plan paths back to the relocalization target position, ensuring effective mapping and path planning even when disconnected from the original grid.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If SLAM technology is used for robot relocalization, then the robot can locate itself in unknown environments, but the robot fails to plan feasible paths when disconnected from the known grid area
Solution Approach 1:
The patent divides the navigation space into known grid areas and unknown grid areas. When the robot is disconnected from the known grid, it segments the unknown area into passable grids (within sensor detectable distance) and non-passable grids, allowing independent path planning in each segment without requiring complete map connectivity.
Solution Approach 2:
The patent performs preliminary marking of unknown grids as passable grids within the sensor's detectable distance before path planning. This preliminary action creates a temporary valid navigation map that enables the path search algorithm to function even when disconnected from the known grid area.
2Adaptability or versatility
If the robot marks unknown grids as passable grids within sensor detectable distance, then the robot can plan paths in disconnected areas, but the device complexity increases due to additional grid marking and connectivity judgment operations
Solution Approach 1:
Instead of marking all unknown grids or performing exhaustive connectivity checks, the patent applies partial action by marking only those unknown grids within the sensor's detectable distance as passable. This limited scope reduces computational complexity while maintaining sufficient adaptability for local path planning.
Solution Approach 2:
The system uses the robot's own sensor detectable distance as the criterion for marking passable grids, making the marking process self-determined based on the robot's inherent sensing capabilities rather than requiring external configuration or complex parameter tuning.
3Productivity
If the robot uses mature path planning algorithms such as incremental heuristic search algorithm, then the robot can efficiently plan paths in known areas, but the algorithms fail to search out feasible paths in unknown areas separated from the known grid
Solution Approach 1:
The patent performs preliminary marking of unknown grids as passable grids before invoking the path search algorithm. This preliminary preparation transforms the unknown area into a format that the mature path planning algorithm can process, enabling the algorithm to maintain its efficiency while becoming applicable to previously intractable disconnected unknown areas.
Solution Approach 2:
The concept of passable grids acts as an intermediary between the unknown area and the path planning algorithm. By marking unknown grids within sensor range as passable, the patent creates an intermediate representation that bridges the gap between the algorithm's requirements for known navigable space and the reality of disconnected unknown areas.
Data Source
AI summary
Disclosed in the embodiments of the present disclosure are a navigation method of a robot, a chip and a robot. In the navigation method, when the position of the robot is not communicated with a preset known grid area constructed before relocalization, and grids allowing the robot to pass are marked within a detectable distance of a sensor of the robot, so as to plan a navigation path for enabling the robot to actually walk into the preset known grid area.