Real-Time Robot Trajectory Generation for Dynamic Obstacle Avoidance
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Solution Overview
Problem
Existing techniques for determining robot trajectories often fail to generate real-time paths that effectively avoid collisions with obstacles, especially in dynamic environments, and may not prioritize time efficiency.
Innovation Solution
A real-time trajectory generator adjusts acceleration constraints for robot actuators based on their configuration and proximity to obstacles, using collision values to dynamically modify kinematic motion constraints and ensure obstacle avoidance while maintaining time efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If non-real-time trajectory optimization techniques are used, then trajectory smoothness and constraint satisfaction are improved, but real-time applicability deteriorates
Solution Approach 1:
The patent applies dynamics by transitioning from static, pre-computed trajectories to dynamic, real-time trajectory generation. The system continuously updates trajectories based on current robot states and obstacle positions, enabling adaptation to changing environments while maintaining computational efficiency for real-time control.
Solution Approach 2:
The patent changes key trajectory parameters (position, velocity, acceleration, jerk) in real-time based on collision risk assessments. By dynamically adjusting these parameters rather than using fixed trajectories, the system achieves both real-time responsiveness and trajectory quality.
2Device complexity
If traditional trajectory generation techniques are used, then computational simplicity is improved, but collision avoidance capability deteriorates
Solution Approach 1:
The patent implements feedback by continuously monitoring robot configuration, obstacle positions, and trajectory predictions. Collision risk is assessed based on this feedback, and trajectories are adjusted accordingly. This closed-loop approach enables effective collision avoidance while maintaining computational efficiency through selective application of complex calculations only when collision risk is detected.
Solution Approach 2:
The patent applies preliminary action by predicting future robot configurations along the trajectory before actual movement occurs. Collision risk is assessed in advance based on predicted positions, allowing proactive trajectory modification to prevent collisions rather than reacting after contact occurs.
3Reliability
If acceleration constraints are reduced to avoid obstacles, then collision avoidance is improved, but motion speed deteriorates
Solution Approach 1:
The patent applies local quality by selectively modifying acceleration constraints only for specific actuators and time intervals where collision risk exists. Rather than globally reducing all acceleration constraints, the system applies localized constraint adjustments only where and when needed, maintaining high speeds in safe regions while ensuring collision avoidance in critical zones.
Solution Approach 2:
The patent dynamically adjusts acceleration constraints based on real-time collision risk assessment. Constraints are tightened only when obstacles are detected and relaxed when safe, enabling the robot to maintain high speeds during safe motion while ensuring collision avoidance when necessary.
4Adaptability or versatility
If real-time trajectory generation with obstacle avoidance is implemented, then collision avoidance and adaptability are improved, but computational complexity deteriorates
Solution Approach 1:
The patent segments the trajectory generation process into distinct computational stages: configuration prediction, collision risk assessment, constraint determination, and trajectory optimization. This segmentation allows each stage to be computed efficiently and independently, reducing overall computational complexity while maintaining real-time performance and environmental adaptability.
Data Source
AI summary
Methods, apparatus, systems, and computer readable media are provided for real-time generation of trajectories for actuators of a robot, where the trajectories are generated to lessen the chance of collision with one or more objects in the environment of the robot. In some implementations, a real-time trajectory generator is used to generate trajectories for actuators of a robot based on a current motion state of the actuators, a target motion state of the actuators, and kinematic motion constraints of the actuators. The acceleration constraints and/or other kinematic constraints that are used by the real-time trajectory generator to generate trajectories at a given time are determined so as to lessen the chance of collision with one or more obstacles in the environment of the robot.