Shared-Workspace Robot Coordination Using 3D Swept-Volume Planning
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Solution Overview
Problem
Coordination of robot movements in a shared workspace is complex and prone to collisions, requiring efficient scheduling systems to optimize task execution and avoid interference among multiple robots.
Innovation Solution
A scheduling system that generates candidate motion plans for each robot, creates 3D models of the space swept by robots, identifies potential collisions, and selects motion plans based on efficiency scores to minimize conflicts and optimize workspace usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots operate concurrently in a shared workspace, then productivity is improved, but the risk of collisions and interference increases
Solution Approach 1:
The system performs preliminary motion planning and collision detection before robots execute tasks. Virtual models of robot movements are created and analyzed for potential intersections, allowing conflicts to be identified and resolved in advance, ensuring safe concurrent operation
Solution Approach 2:
A centralized scheduling system acts as an intermediary between multiple robots. This mediator coordinates robot movements, assigns tasks, and manages motion plans to enable concurrent operation while preventing collisions through centralized control
2Reliability
If complex coordination is implemented to avoid collisions, then reliability is improved, but device complexity increases
Solution Approach 1:
The system creates virtual models (copies) of robots and their movements in a simulated environment. These digital twins allow collision detection and motion planning to be performed virtually, reducing the complexity of real-time physical coordination while maintaining high reliability
Solution Approach 2:
Physical trial-and-error coordination is replaced with computational motion planning and virtual simulation. The scheduling system uses algorithms to determine safe robot paths and task assignments, substituting mechanical complexity with software-based solutions
3Measurement precision
If virtual models are created to detect interference, then collision detection accuracy is improved, but computational time increases
Solution Approach 1:
The system performs collision detection selectively based on task assignments and robot paths. Rather than analyzing all possible robot interactions, the scheduling system focuses computational resources on detecting interference in relevant motion sequences, reducing overall computation time while maintaining detection accuracy
Data Source
AI summary
Methods, systems, and computer programs stored on computer storage devices, for coordinating movements of robots are disclosed. One of the methods includes, for each robot in a group of robots, identifying a set of tasks assigned to the robot and generating a plurality of candidate motion plans. The method further includes, for each candidate motion plan: (i) generating a 3D model that represents a volume of space through which the robot would move in executing the sequence of motions represented by the candidate motion plan, and (ii) determining a score for the candidate motion plan. The method further includes determining conflicts between candidate motion plans of different robots, selecting a motion plan from the candidate motion plans based on the score for the selected motion plan and the conflicts, and providing the selected motion plans for execution by the group of robots.