Serving Robot Path Planning for Collision and Deadlock Avoidance
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Solution Overview
Problem
Conventional serving robot control algorithms face challenges in avoiding collisions between multiple serving robots, leading to decreased efficiency and potential deadlocks when calculating the shortest distance without considering other robots' movements.
Innovation Solution
A method that generates optimal paths for each table based on map information, allowing serving robots to move to target points through specific optimal paths or avoidance paths when obstacles are detected, while considering congestion levels and other robots' movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If serving robots calculate the shortest distance without considering other robots' movements, then the path efficiency is improved, but the risk of collision between robots increases
Solution Approach 1:
The system performs preliminary path planning for multiple robots simultaneously, considering the movements of all robots in advance. By calculating paths with awareness of other robots' trajectories before execution, the system prevents collisions while maintaining efficiency, rather than reacting to collisions after they occur.
Solution Approach 2:
The path planning system incorporates feedback from other robots' movements and positions. When planning a path for one robot, the system continuously monitors and adjusts based on the real-time positions and trajectories of other robots, ensuring collision-free paths while maintaining optimal efficiency.
2Reliability
If serving robots simply stop to avoid collision with other robots, then the collision risk is reduced, but the serving efficiency decreases and robots may get stuck in deadlock
Solution Approach 1:
Instead of static stopping behavior, the system dynamically adjusts robot paths based on real-time conditions. When potential collisions are detected, the system dynamically recalculates paths for affected robots, allowing them to wait strategically or take alternative routes rather than simply stopping, thereby maintaining serving efficiency while avoiding collisions and deadlocks.
3Device complexity
If multiple serving robots calculate paths independently without coordination, then the path calculation complexity is reduced, but the risk of deadlock increases
Solution Approach 1:
The system merges the path calculation processes of multiple robots into a unified coordination mechanism. Instead of completely independent calculations, the system combines path planning for all robots simultaneously, considering their interactions and potential conflicts, thereby reducing deadlock risk while keeping computational complexity manageable through efficient algorithms.
Data Source
AI summary
A method of obstacle avoidance control of a serving robot according to various embodiments of the present invention is disclosed. The method may include: generating optimal paths for each of a plurality of tables included in a space in which the serving robot performs serving based on map information on the space; when serving for a specific table is set, transmitting a specific optimal path for moving to a target point corresponding to the specific table to the serving robot and controlling the serving robot to move to the target point through the specific optimal path; and when the serving robot recognizes an obstacle while moving to the target point and stops moving, controlling the serving robot to wait and then move to the target point through the specific optimal path or move to the target point through an avoidance path.