Segmented Lattice Path Planning for Obstacle-Adaptive Mobile Robots
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Solution Overview
Problem
Mobile automation apparatuses in retail environments face challenges in maintaining optimal navigation paths due to dynamic obstacles, leading to deviations from predefined paths and inability to learn control inputs during deviations, which affects imaging data quality.
Innovation Solution
A mobile automation apparatus employing a fixed segmented lattice planning system, where segments and nodes are arranged in a lattice configuration, allowing the navigation module to store and update control inputs and error signals, and generate branches to avoid obstacles while maintaining constraints, enabling adaptive navigation and improved data acquisition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile automation apparatus follows a single static predefined path, then imaging data quality is maintained, but the apparatus cannot adapt to dynamic obstacles in the environment
Solution Approach 1:
The patent divides the navigation path into multiple discrete segments arranged in a lattice structure, where each segment represents a possible navigation option. This segmentation allows the apparatus to maintain a structured approach (preserving reliability) while having multiple predefined options to choose from (enabling adaptability) when obstacles are detected.
Solution Approach 2:
The patent transforms the static single path into a dynamic multi-segment lattice structure that can adapt to changing conditions. The apparatus dynamically selects and transitions between segments based on real-time obstacle detection, maintaining reliability through structured segment definitions while achieving adaptability through dynamic path selection.
2Adaptability or versatility
If the mobile automation apparatus deviates from the predefined path to avoid obstacles, then adaptability is improved, but the apparatus cannot use learned control inputs and must navigate back to the original path
Solution Approach 1:
The patent pre-defines multiple path segments and nodes in a lattice structure before navigation begins. When an obstacle is encountered, the apparatus can immediately transition to a pre-planned alternative segment rather than deviating arbitrarily and then searching for a return path, thus maintaining adaptability while minimizing time loss.
Solution Approach 2:
The patent implements a feedback mechanism where the apparatus continuously monitors its position relative to the lattice segments and dynamically selects the optimal segment to follow. This feedback-driven segment selection allows the apparatus to adapt to obstacles while efficiently navigating through the predefined lattice structure, avoiding unnecessary detours and time loss.
3Ease of operation
If the mobile automation apparatus uses a fixed predefined path, then navigation simplicity is maintained, but the apparatus cannot learn control inputs during navigation
Solution Approach 1:
The patent segments the navigation path into discrete lattice segments, each associated with learnable control inputs. This segmentation maintains navigation simplicity by providing a structured framework while enabling learning by allowing the apparatus to accumulate experience specific to each segment and improve control inputs for future traversals.
Solution Approach 2:
The patent enables the apparatus to self-improve by learning control inputs from its own navigation experiences. As the apparatus traverses lattice segments, it automatically learns and refines the control inputs required for each segment, improving its autonomous navigation capability without external intervention while maintaining the simplicity of the lattice structure.
Data Source
AI summary
Fixed segmented lattice planning for a mobile automation apparatus is provided. A mobile automation apparatus is provisioned with a plurality of segments for a plurality of paths through an environment, each of the plurality of segments being fixed in a reference frame, the plurality of segments arranged in a lattice configuration, with adjacent segments defining fixed nodes in the lattice configuration. The apparatus navigates through the environment on a segment-by-segment basis, storing control inputs and error signals for each segment and then later, when again navigating a segment using stored control inputs and error signals to generate current control inputs, along with current error signals, and storing the current control inputs and the current error signals. Indeed, each time the apparatus navigates a segment in the lattice configuration, the control inputs and the error signals are updated to refine navigation through the environment at each navigation through a segment.