Mobile Robot Tracking Control Using Virtual Targets in Narrow Passages
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Solution Overview
Problem
Autonomous mobile robots struggle to track targets in a natural and efficient manner, especially when targets move laterally or navigate through narrow passages, leading to lost sight and anxiety for the target due to delayed movements and conflicting obstacle avoidance and tracking operations.
Innovation Solution
An information processing device that designates a tracking target and sets a virtual tracking target, allowing the robot to control its movement based on the virtual target, maintaining the target within the detection range and avoiding obstacles by switching between tracking modes such as normal, narrow passage, and corner tracking modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robot immediately faces the tracking target when it moves to the side, then tracking responsiveness is improved, but the behavior becomes unnatural and causes anxiety for the target
Solution Approach 1:
The patent applies dynamics by implementing multiple tracking modes (normal tracking mode and narrow passage tracking mode) that dynamically switch based on the situation. In normal tracking mode, the robot follows the target's past route smoothly, while in narrow passage tracking mode, it prioritizes immediate response. This dynamic adaptation resolves the contradiction between responsiveness and naturalness.
Solution Approach 2:
The patent changes the tracking behavior parameters based on the environment. By detecting whether the target is in a narrow passage or open space, the system adjusts its tracking strategy - using smooth following in open spaces and immediate response in narrow passages. This parameter change allows the robot to maintain natural behavior while ensuring safety when needed.
2Stability of the object's composition
If the robot follows the tracking target's past route, then behavior becomes natural and smooth, but the robot may lose sight of the target in narrow passages
Solution Approach 1:
The patent introduces an intermediary mechanism - the tracking mode selection system - that mediates between smooth following and reliable detection. By using detection results to determine which mode to activate, the system ensures that smooth tracking doesn't compromise target detection reliability in critical situations like narrow passages.
Solution Approach 2:
The system dynamically adjusts its tracking behavior based on environmental conditions. When a narrow passage is detected, the robot switches to a mode that prioritizes keeping the target in view, even if it means deviating from the smooth past-route following. This dynamic adjustment maintains reliability without permanently sacrificing smoothness.
3Reliability
If the robot prioritizes obstacle avoidance operations, then safety is improved, but tracking performance deteriorates due to conflicting operations
Solution Approach 1:
The patent segments the tracking operation into distinct modes (normal tracking and narrow passage tracking) with different priority assignments. In normal tracking mode, smooth following is prioritized while maintaining safety. In narrow passage mode, safety and target detection are prioritized over smoothness. This segmentation allows both safety and tracking performance to be optimized in their respective contexts.
Data Source
AI summary
An information processing device according to an embodiment includes a reception unit that accepts designation of a tracking target, a setting unit that sets a virtual tracking target different from the tracking target, and a drive control unit that controls driving of a mobile body on the basis of the virtual tracking target.