Robot Route Conflict Detection with Closest-Approach Timing
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Solution Overview
Problem
Existing autonomy systems for robots are limited in their ability to support multiple mission sets and are not well-equipped for rapid adaptation to new platforms, making them inflexible and difficult to extend with new modules.
Innovation Solution
A method and system for detecting conflicts along a robot's route by receiving sensor data indicating the position and velocity of nearby moving objects, generating predicted trajectories, and comparing these with the robot's trajectory to detect potential conflicts and output indications for guidance, navigation, or control to avoid conflicts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing autonomy systems are configured to address only one example of activities (e.g., route planning OR collision avoidance), then the system can be optimized for that specific function, but the system cannot support multiple mission sets and lacks extensibility
Solution Approach 1:
The autonomy system is designed with a universal architecture that can perform multiple functions including route planning, collision avoidance, and data processing through a single integrated platform. The system uses common data structures and algorithms that can be applied across different mission types, allowing one system to support multiple mission sets without requiring separate specialized systems for each function.
Solution Approach 2:
The autonomy system is divided into modular components that can be independently configured and combined based on mission requirements. The system separates core functions into distinct modules (route planning module, collision avoidance module, data processing module) that can be activated or deactivated depending on the specific mission, providing versatility while maintaining manageable complexity through modular design.
2Adaptability or versatility
If existing autonomy systems are designed with fixed architecture, then the system can operate reliably for its intended purpose, but the system cannot be rapidly adapted to new platforms through parameterization
Solution Approach 1:
The autonomy system uses parameterized algorithms where mission-specific behaviors are controlled by adjustable parameters rather than hard-coded logic. This allows the same core system to be rapidly adapted to new platforms by changing parameters (such as vehicle dimensions, speed limits, operational constraints) without modifying the underlying architecture, while maintaining reliability through consistent algorithmic foundations.
3Reliability
If the system performs comprehensive real-time data processing for conflict detection, then collision avoidance capability is improved, but computational time and processing requirements increase
Solution Approach 1:
The system performs preliminary data processing and conflict assessment in advance by continuously maintaining updated models of the operational environment and predicting potential conflicts before they materialize. By proactively processing data and identifying potential issues early, the system reduces the computational burden during critical moments and enables faster response times when actual conflicts arise.
Solution Approach 2:
The system implements selective processing that skips detailed analysis for objects or situations that are clearly safe or irrelevant to the current mission, focusing computational resources only on potential conflicts. This allows the system to rush through the evaluation of high-priority threats with intensive processing while quickly dismissing low-priority items, optimizing the balance between comprehensive analysis and computational efficiency.
Data Source
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AI summary
A method is provided for detecting conflict along a route for a robot to travel. The method includes generating a predicted trajectory of a nearby moving object, generating a trajectory of the robot, and performing a comparison of the nearby moving object and the robot on their projected trajectory and trajectory to detect a conflict that may be avoided. The comparison includes determining updated positions and velocities of the nearby moving object and the robot. The comparison also includes determining if the nearby moving object is within a clear region that includes the robot from the updated positions, and if a time to closest point of approach between nearby moving object and the robot is less than a time threshold value from the updated velocities. The conflict is then detected when the nearby moving object is within the clear region, and the time to closest point of approach is less than the time threshold value.