Robot Speed Planning With Curvature-Based Obstacle Avoidance
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Solution Overview
Problem
Current robot speed planning methods require extensive calculations, leading to poor real-time performance and safety risks due to the complexity of obstacle avoidance.
Innovation Solution
The method employs cubic B-spline curve fitting to constrain forward and angular speeds based on the radius of curvature, reducing the number of candidate speeds to verify and improving real-time performance by focusing on collision risk assessment with obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple simulation paths at different speeds are calculated and evaluated, then obstacle avoidance safety is improved, but calculation complexity increases leading to poor real-time performance
Solution Approach 1:
The patent extracts only the necessary speed parameters for obstacle avoidance from the full set of possible speeds. Instead of evaluating multiple simulation paths at different speeds, the method calculates a single safe angular speed based on obstacle distance and curvature constraints, removing unnecessary calculation complexity while maintaining safety
Solution Approach 2:
The patent performs preliminary calculation of the safe angular speed using the formula ω = v/(R+r) based on current obstacle information and path curvature before actual movement. This preliminary determination of safe parameters eliminates the need for subsequent simulation and evaluation of multiple speed options during real-time operation
2Reliability
If multiple simulation paths at different speeds are calculated and evaluated, then obstacle avoidance safety is improved, but processing time increases
Solution Approach 1:
The patent extracts only the essential parameters (obstacle distance d, curvature radius R, robot radius r) needed for safe speed calculation. By directly computing the safe angular speed ω = v/(R+r) from these extracted parameters, the method eliminates time-consuming simulation and evaluation of multiple speed options
Solution Approach 2:
The system uses real-time sensor data and map information to self-determine the safe angular speed without external simulation. The robot autonomously calculates its safe operating parameters based on current environmental conditions, eliminating the need for time-consuming external verification through multiple simulation paths
3Productivity
If cubic B-spline curve fitting is performed to constrain speeds based on radius of curvature, then real-time performance is improved, but path smoothness may be reduced
Solution Approach 1:
The patent changes the approach from fitting the entire path with cubic B-spline curves to using simple circular arc approximation for speed constraint calculation. By parameterizing the safe angular speed as ω = v/(R+r) where R is the curvature radius, the method achieves real-time performance without the computational complexity of full B-spline fitting, while maintaining sufficient path smoothness through curvature-based constraints
Data Source
AI summary
Provided are a speed planning method and apparatus, an electronic device, and a storage medium. The method includes determining a planned path on which a target object reaches a target position from a current position; in the planned path, performing cubic B-spline curve fitting on a path between the current position and a position with a set distance from the current position to obtain a fitted curve; calculating a radius of curvature of the fitted curve, and calculating a corresponding angular speed based on the radius of curvature and a preset forward speed; based on current obstacle information in a map where the target object is located, judging whether a risk of collision with an obstacle during a process of the target object traveling along the fitted curve at the angular speed exists.