Robot Stair Mapping Maneuvers for Safe Autonomous Traversal
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Solution Overview
Problem
Robotic devices face challenges in efficiently mapping and navigating diverse environments, particularly when encountering obstacles like stairs, due to incomplete or inaccurate sensor data, which can lead to inefficiencies and safety hazards.
Innovation Solution
The method involves obtaining a map of the environment, identifying stairs, performing a stair mapping maneuver to adjust the robot's field of view and movement, and generating a stair model based on sensor data to enable safe and efficient traversal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses standard navigation methods without specific stair mapping maneuvers, then the navigation process is simpler and faster, but the mapping accuracy and safety of stair traversal deteriorate due to incomplete sensor data
Solution Approach 1:
The robot performs preliminary stair mapping maneuvers before actual traversal, including positioning itself to capture comprehensive sensor data of the stair structure, adjusting field of view to map occluded portions, and collecting sufficient data to create an accurate stair model. This preliminary action ensures complete mapping while maintaining manageable navigation complexity through structured approach.
Solution Approach 2:
The navigation process is segmented into distinct phases: standard navigation mode for general movement, and specific stair mapping maneuvers when stairs are detected. The stair mapping itself is segmented into multiple sensor captures from different positions and angles. This segmentation allows the robot to apply appropriate complexity only when needed, improving accuracy without permanently increasing overall system complexity.
2Reliability
If the robot performs comprehensive stair mapping maneuvers to ensure complete and accurate mapping, then the safety and accuracy of stair traversal improve, but the time and complexity of the navigation process increase
Solution Approach 1:
The robot performs necessary mapping actions before traversal to ensure safety, positioning itself to capture occluded portions of stairs and building a complete model in advance. This preliminary action prevents safety issues during actual traversal while minimizing time loss by completing mapping tasks before movement begins.
Solution Approach 2:
Once comprehensive stair mapping is completed and the stair model is established, the robot skips detailed mapping actions during traversal and relies on the pre-built model for navigation. This rushing through phase maintains safety while reducing time consumption during the actual stair traversal.
3Loss of information
If the robot adjusts field of view and performs positioning maneuvers to map occluded portions of stairs, then the completeness of the stair model improves, but the number of movements and adjustments increases
Solution Approach 1:
The robot performs preliminary positioning and field of view adjustments to capture occluded portions of stairs before finalizing the stair model. By proactively seeking out and mapping hidden areas in advance, the system ensures complete information capture while organizing movements efficiently to maintain productivity.
Solution Approach 2:
The system continuously monitors sensor data completeness and determines when sufficient information has been captured. This feedback mechanism allows the robot to know when to stop making positioning and field of view adjustments, preventing unnecessary movements while ensuring all critical stair portions are mapped for complete information.
Data Source
AI summary
Systems and methods are described for mapping and traversal of a set of stairs. A system can obtain a map of an environment. The system can determine that the environment includes a set of stairs based on the map. For example, the map may indicate the presence of the set of stairs within the environment. For mapping the set of stairs, the system can instruct performance of a stair mapping maneuver based on the determination that the environment includes the set of stairs. Based on the performance of the stair mapping maneuver, the system can map the set of stairs. The system can instruct traversal of the set of stairs by a robot based on the mapping of the set of stairs.