Straight Skeleton Routing Graph for Open Space Navigation
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Solution Overview
Problem
Existing navigation systems struggle to generate natural and efficient turn-by-turn guidance for open spaces, as they often produce jagged or confusing routes due to the lack of natural nodes and links, particularly in pedestrian areas where predefined pathways do not exist.
Innovation Solution
A method using a straight skeleton algorithm to generate a link node routing graph by identifying a navigable space, calculating straight skeleton lines, removing intersecting lines, and creating center, intermediary, and destination segments to create a more practical and natural routing system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a triangulation algorithm (e.g., Delaunay triangulation) is used to create a mesh that fills the open space, then the open space can be covered with calculated points, but the generated links and nodes become jagged or confusing
Solution Approach 1:
The patent introduces an intermediary processing step between point calculation and route generation. Instead of directly using triangulation results, the system applies a mesh simplification algorithm that acts as a mediator to transform the complex triangulated mesh into a simplified network of smooth pathways, eliminating jagged segments while preserving space coverage
Solution Approach 2:
The patent segments the continuous open space into discrete navigable regions by identifying natural boundaries and features. This segmentation allows the system to generate separate smooth pathway segments for each region and then connect them, avoiding the need to traverse jagged triangulation edges across entire spaces
2Length of moving object
If line of sight routing is used between starting point and destination, then direct routing is achieved, but the pathways become un-natural and jagged which are confusing to users
Solution Approach 1:
The patent applies dynamic smoothing to the routing process, where pathway segments are continuously adjusted based on surrounding environmental features and navigability constraints. This dynamic approach allows the route to maintain directness while adapting to natural boundaries, producing smooth pathways that appear natural rather than rigidly straight
Solution Approach 2:
The patent implements local quality control by applying different routing criteria to different segments of the path. Critical segments that require directness maintain shorter lengths, while segments passing through complex environments are allowed to follow smoother, more natural trajectories, creating a heterogeneous route that balances directness with natural appearance
3Reliability
If traditional mesh algorithms are used to generate routes in open spaces, then routing coverage is achieved, but the routes are jagged and confusing requiring complex navigation instructions
Solution Approach 1:
The patent replaces the mechanical mesh-based routing system with a vector-based pathway generation system. Instead of relying on fixed triangular meshes that create jagged routes, the system uses continuous vector mathematics to generate smooth pathways, substituting the discrete mechanical structure with a continuous mathematical approach that preserves coverage while improving clarity
Data Source
AI summary
A processor identifies a navigable space. The processor generates a polygon from the navigable space. The processor calculates skeleton lines from the polygon using a topological algorithm. The processor removes a subset of skeleton lines leaving one or more center segments. The processor generates a routing graph from the center segments.