Robot Navigation Waypoints for Bypassing Blocked Route Edges
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Solution Overview
Problem
Existing navigation systems for robots in constrained environments often become stuck due to limited obstacle maps that restrict exploration and prevent the robot from navigating around obstacles effectively.
Innovation Solution
A computer-implemented method that uses a topological map and image data from an image sensor to generate alternate waypoints and edges, allowing the robot to adjust its navigation route and bypass obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot uses a limited obstacle map for navigation, then the navigation system remains simple and deterministic, but the robot becomes stuck and cannot navigate around obstacles effectively
Solution Approach 1:
The system pre-generates multiple alternate waypoints and alternate edges around known obstacles before navigation is needed. When the robot encounters a blocked route edge, it can immediately switch to a pre-computed alternate path without complex real-time decision-making, thus maintaining simplicity while improving adaptability
Solution Approach 2:
The navigation system dynamically adjusts the path by selecting from pre-generated alternate waypoints and edges based on real-time obstacle detection. The system transitions from a static limited obstacle map to a dynamic path selection mechanism that adapts to encountered obstacles while maintaining deterministic behavior through predefined alternatives
2Reliability
If a robot follows a fixed navigation route, then the system remains simple and deterministic, but the robot cannot bypass blocked route edges
Solution Approach 1:
Alternate waypoints and edges are pre-generated around potential obstacles before the robot encounters them. This preliminary preparation ensures that when a route edge is blocked, reliable alternate paths are already available, improving navigation reliability without requiring complex real-time route adjustment algorithms
Solution Approach 2:
The alternate waypoints act as intermediary points that mediate between the original fixed route and the need to bypass obstacles. When a route edge is blocked, the robot uses these intermediary alternate waypoints to transition smoothly to an alternate path, maintaining reliability while avoiding direct confrontation with the blocked edge
3Adaptability or versatility
If a robot generates alternate waypoints using image data, then the robot can explore and bypass obstacles, but the processing complexity and time increase
Solution Approach 1:
The system performs preliminary generation of alternate waypoints and edges using available map and image data before the robot actually needs to bypass an obstacle. This advance preparation reduces real-time processing requirements and minimizes the time loss when obstacle bypass is needed
Solution Approach 2:
The system dynamically balances processing depth based on navigation needs. Alternate waypoints are generated to the extent necessary for obstacle bypass rather than exhaustive exploration, and the generation process adapts to the specific situation encountered, reducing unnecessary processing time while maintaining bypass capability
Data Source
AI summary
A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations including obtaining a topological map including waypoints and edges. Each edge connects adjacent waypoints. The waypoints and edges represent a navigation route for the robot to follow. Operations include determining, that an edge that connects first and second waypoints is blocked by an obstacle. Operations include generating, using image data and the topological map, one or more alternate waypoints offset from one of the waypoints. For each alternate waypoint, operations include generating an alternate edge connecting the alternate waypoint to a waypoint. Operations include adjusting the navigation route to include at least one alternate waypoint and alternate edge that bypass the obstacle. Operations include navigating the robot from the first waypoint to an alternate waypoint along the alternate edge connecting the alternate waypoint to the first waypoint.