Robot Mapping via Wall Following and Unexplored Area Search
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Solution Overview
Problem
Existing robots struggle to generate accurate maps of their surroundings, particularly in environments with complex layouts, leading to inefficient navigation and movement.
Innovation Solution
A robot equipped with sensors, a driver, and a processor that enables wall following to generate maps by prioritizing walls based on corner directions and proximity, allowing it to explore and map uncharted areas while forming loops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot uses traditional exploration methods without wall following, then the exploration speed may be faster, but the map accuracy and coverage are insufficient
Solution Approach 1:
The patent segments the exploration process into two distinct phases: wall following mode for accurate boundary mapping and free exploration mode for covering unexplored areas. The robot switches between these modes based on sensor detection, allowing it to maintain high map accuracy along walls while preserving exploration speed in open spaces.
Solution Approach 2:
The patent implements dynamic mode switching between wall following and free exploration based on real-time sensor input. When walls are detected, the robot transitions to wall following mode; when no walls are present, it switches to free exploration mode. This dynamic adaptation resolves the contradiction by optimizing the exploration strategy according to the environmental context.
2Measurement precision
If the robot performs wall following along all detected walls, then the map coverage is comprehensive, but the time consumption increases
Solution Approach 1:
The patent applies partial wall following by selectively following only certain walls rather than all detected walls. The robot prioritizes walls that bound unexplored areas and uses sensor data to determine which walls require detailed mapping. This partial action approach ensures comprehensive coverage of critical areas while reducing time consumption on already explored or less important regions.
Solution Approach 2:
The patent uses sensor feedback to continuously monitor the exploration progress and adjust wall following behavior. The robot detects walls, evaluates whether they bound unexplored areas, and decides whether to follow them based on this feedback. This feedback mechanism prevents unnecessary wall following and optimizes the balance between coverage and time consumption.
3Productivity
If the robot prioritizes walls based on corner directions and distances, then the exploration becomes more systematic, but the control complexity increases
Solution Approach 1:
The patent changes the parameters used for wall prioritization from simple distance-based selection to a multi-parameter system that includes corner direction, distance to wall, and unexplored area detection. This parameter transformation enables more systematic exploration by prioritizing walls that are most likely to bound unexplored regions, thereby improving exploration efficiency despite the increased computational requirements.
Data Source
AI summary
A robot includes: a sensor configured to sense an environment of the robot; a driver configured to drive movement of the robot; at least one memory; and at least one processor configured to: based on identifying at least one wall through the sensor, control the driver to cause the robot to perform wall following in which the robot travels along the at least one wall, generate a map of an explored area by exploring an area in a vicinity of the robot through the sensor while the robot travels, store information on the generated map in the at least one memory, and based on the robot completing the wall following, control the driver to cause the robot to move to an exploration point in an unexplored area in the vicinity of the robot.