Robot Waypoint Navigation With Dynamic Obstacle Avoidance
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Solution Overview
Problem
Robots navigating in crowded spaces, such as airports or public offices, face challenges in efficiently avoiding pedestrians and objects, leading to potential collisions and inefficient navigation paths due to reliance on fixed distance thresholds for waypoint passage.
Innovation Solution
A robot navigation method that generates routes based on waypoint characteristics, real-time obstacle detection, and effective area ranges, allowing the robot to adjust its path by considering the position and angles between waypoints, and prioritizing waypoints to ensure efficient passage through the environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed distance threshold is used to determine waypoint passage, then the navigation system is simple to implement, but the robot cannot respond to pedestrians and objects encountered during movement
Solution Approach 1:
The patent implements dynamic waypoint passage determination by continuously monitoring the robot's position relative to the waypoint and automatically adjusting the effective area range based on the robot's movement state. When the robot is stationary, a smaller threshold is used; when moving, a larger threshold is applied, allowing the system to adapt to different operational phases without manual intervention
Solution Approach 2:
The system changes the distance threshold parameter dynamically based on the robot's movement state. The controller switches between a first distance threshold (when stationary) and a second distance threshold (when moving), enabling the navigation system to respond appropriately to obstacles encountered during movement while maintaining simplicity in implementation
2Ease of operation
If the robot uses a large distance threshold for waypoint passage, then the robot can move more freely, but the robot may not accurately pass through the waypoint
Solution Approach 1:
The patent implements dynamic threshold selection based on the robot's movement state. When the robot is stationary, a smaller first distance threshold is used to ensure precise waypoint passage. When the robot is moving, a larger second distance threshold is applied to allow more freedom in navigation while still achieving passage
Solution Approach 2:
The system preliminarily determines the robot's movement state (stationary or moving) before applying the appropriate distance threshold. This preliminary assessment allows the controller to select the suitable threshold in advance, ensuring both accuracy when needed and freedom when appropriate
3Reliability
If the robot continuously monitors obstacles near waypoints, then the robot can avoid collisions, but the navigation time increases
Solution Approach 1:
The patent applies partial monitoring by focusing obstacle detection resources on the effective area near waypoints rather than continuously monitoring the entire environment. The controller only intensifies monitoring when the robot approaches a waypoint within the effective area, reducing overall navigation time while maintaining collision avoidance capability at critical moments
Solution Approach 2:
The system preliminarily identifies when the robot is approaching a waypoint by checking if the robot's position falls within the effective area. Only when this preliminary condition is met does the system activate intensive obstacle monitoring, thereby avoiding continuous monitoring and reducing navigation time while ensuring safety at critical passage points
Data Source
AI summary
Disclosed herein are a robot navigating based on obstacle avoidance and a navigation method. In the robot or the navigation method of the robot according to an embodiment, a navigation route may be generated on the basis of position information on a waypoint and on objects sensed by a sensor, such that the robot may move via one or more waypoints.