Robot Trajectory Conflict Detection With Right-of-Way Maneuver Selection
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Solution Overview
Problem
Existing autonomy systems for robots are typically configured to address only one aspect of robot operation, limiting their extensibility and efficiency in complex environments, and lack comprehensive conflict detection and avoidance capabilities along a current route.
Innovation Solution
A system and method that uses conditional statements and trajectory analysis to detect conflicts and select appropriate maneuvers for conflict avoidance, considering angles and sectors to ensure compliance with right-of-way rules and minimize environmental disruption, implemented in a robot's mission management system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If existing autonomy systems are configured to address only one aspect of robot operation, then the system design can be simplified and focused, but the extensibility and efficiency in complex environments are limited
Solution Approach 1:
The autonomy system is designed to perform multiple functions including trajectory determination, conflict detection, and maneuver selection within a single integrated architecture. The system can address different aspects of robot operation (navigation, collision avoidance, route planning) simultaneously, enabling it to handle diverse complex environments while maintaining a unified design rather than requiring separate specialized systems for each function.
2Reliability
If comprehensive conflict detection and avoidance capabilities are implemented along the current route, then robot safety and adaptability are enhanced, but system complexity and computational load increase
Solution Approach 1:
The system determines the robot's future trajectory by calculating multiple forward positions along the current route before conflicts actually occur. By proactively computing the trajectory and detecting potential conflicts in advance rather than reacting to immediate threats, the system enhances safety while managing computational complexity through efficient predictive algorithms.
Solution Approach 2:
The conflict detection process is segmented into distinct functional modules: trajectory determination, conflict detection, and maneuver selection. Each module handles a specific aspect of the overall safety function, allowing the system to achieve comprehensive conflict detection capabilities while maintaining manageable system complexity through modular design and clear separation of concerns.
3Adaptability or versatility
If multiple angles and conditional statements are used to select maneuvers, then compliance with right-of-way rules and minimization of environmental disruption are achieved, but the computational processing time increases
Solution Approach 1:
The system pre-determines the robot's trajectory and evaluates multiple angles (first angle at which the robot observes the moving object, second angle at which the moving object observes the robot, or third angle between trajectories) before conflicts occur. By performing these angular evaluations and conditional assessments in advance rather than in real-time during conflict resolution, the system ensures compliance with right-of-way rules while minimizing the time required for actual maneuver selection.
Data Source
AI summary
A method is provided for detecting and avoiding conflict along a current route of a robot. The method includes accessing or determining trajectories of the robot and a nearby moving object forward in time from their respective current positions, and detecting a conflict from a comparison of the trajectories. The method includes selecting a maneuver to avoid the conflict, and outputting an indication of the maneuver for use in at least one of guidance, navigation or control of the robot to avoid the conflict. Selection of the maneuver includes determining a plurality of angles that describe the conflict such as those at which the robot and moving object observe one another, and/or an angle between their trajectories, and evaluating the plurality of angles to select the maneuver.