Indoor Robot Topological Mapping for Collision-Aware Navigation
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Solution Overview
Problem
The challenge is to generate a topological map for indoor robot navigation, as existing methods lack a standard metric map for indoor spaces, leading to difficulties in safe navigation and collision avoidance, especially when using simultaneous localization and mapping (SLAM) methods.
Innovation Solution
A method is developed to create a topological map using a grid map based on a floorplan, where node and edge data are built from physical coordinates, and a collision-avoidance unit determines potential collisions using kinematic information, modifying the robot's path to ensure safe navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a topological map is generated using SLAM method, then the robot can navigate autonomously, but the map may not be generated depending on environmental conditions
Solution Approach 1:
The patent applies preliminary action by generating a topological map in advance from floorplan data before the robot begins navigation. The map generation unit creates the topological map structure (nodes and edges) beforehand, so that when the robot navigates, it only needs to follow pre-established paths rather than generating maps in real-time under potentially unfavorable environmental conditions.
2Measurement precision
If a metric map is used for indoor navigation, then the space structure can be precisely represented, but no standard metric map is available for indoor spaces
Solution Approach 1:
The patent applies copying by using floorplan data (which is already available for indoor spaces) as a source to generate the topological map. Instead of creating a new metric map from scratch, the system copies spatial information from existing floorplan representations and transforms them into topological map format, making the process easier while maintaining accuracy.
3Productivity
If the robot follows a generated path, then navigation efficiency is improved, but collisions with obstacles may occur
Solution Approach 1:
The patent applies feedback through the collision detection unit that continuously monitors the robot's navigation path. When a potential collision is detected, the system provides feedback by generating alternative paths that avoid obstacles while still reaching the destination, thus maintaining navigation efficiency while eliminating collision risks.
Solution Approach 2:
The patent applies preliminary anti-action by proactively detecting potential collisions before they occur and generating alternative paths in advance. The collision detection unit identifies hazardous situations ahead of time, and the path generation unit prepares alternative routes beforehand, preventing collisions rather than reacting to them after they occur.
Data Source
AI summary
Disclosed herein are an apparatus and method for generating a topological map for navigation of a robot. The method for generating a topological map for navigation of a robot, performed by the apparatus for building the topological map for the navigation of the robot, includes calculating the physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate, extracting the physical coordinates of the pixel on the metric map, building node data and edge data for the navigation of the mobile robot using the physical coordinates, and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data.