Trailer Pathfinding Using Centerline Heuristics for Robot Clearance
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Solution Overview
Problem
Autonomous mobile robots face challenges in accurately navigating and manipulating objects within trailers due to positional inaccuracies and traditional pathfinding algorithms that do not account for the unique geometry and constraints of trailers, leading to inefficient maneuvering and object handling.
Innovation Solution
The autonomous mobile robot determines its location and the location of objects within the trailer relative to the trailer itself, using sensor data to compute a path based on a centerline heuristic that prioritizes staying near the trailer's centerline, ensuring adequate clearance for maneuvering and object manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional pathfinding algorithms are used to prioritize shortest or fastest path, then navigation speed is improved, but maneuvering clearance is reduced
Solution Approach 1:
The patent modifies the pathfinding algorithm by changing the cost function parameters to include a clearance component. Instead of only minimizing path length, the algorithm now considers both distance and clearance from obstacles, transforming the single-parameter optimization into a multi-parameter optimization that balances speed and maneuverability
Solution Approach 2:
The patent applies different pathfinding strategies to different regions of the trailer. In narrow regions near walls, the algorithm prioritizes maintaining clearance, while in more open central areas, it allows for faster, more direct paths. This local adaptation of pathfinding behavior optimizes both speed and maneuverability in context-specific manner
2Productivity
If environment map is used for navigation, then general warehouse navigation is improved, but trailer-specific accuracy is reduced
Solution Approach 1:
The patent segments the navigation system into two components: a global environment map for general warehouse navigation and a local trailer model for precise trailer-specific positioning. The global map provides overall navigation efficiency while the local model compensates for trailer-specific inaccuracies, allowing the system to maintain both productivity and precision
Solution Approach 2:
The patent introduces a trailer-specific coordinate system and transformation layer as an intermediary between the global environment map and the robot's local navigation. This intermediary layer converts global map coordinates to accurate local trailer coordinates, eliminating position accuracy errors while maintaining the efficiency of global path planning
3Length of stationary object
If robot operates near trailer sides to reach destinations, then path length is reduced, but maneuvering space is reduced
Solution Approach 1:
The patent extends the pathfinding consideration from two-dimensional path length optimization to include a third dimension of clearance distance from obstacles. By adding this vertical dimension to the cost function, the algorithm can evaluate paths based on both length and available maneuvering space, finding optimal balance between these competing objectives
Data Source
AI summary
To load and unload a trailer, an autonomous mobile robot determines its location and the location of objects within the trailer relative to the trailer itself, rather than relative to a warehouse. The autonomous mobile robot determines its location the location of objects within the trailer relative to the trailer. The autonomous mobile robot navigates within the trailer and manipulates objects within the trailer from the trailer's reference frame. Additionally, the autonomous mobile robot uses a centerline heuristic to compute a path for itself within the trailer. A centerline heuristic evaluates nodes within the trailer based on how far away those nodes are from the centerline. If the nodes are further away from the centerline, they are assigned a higher cost. Thus, when the autonomous mobile robot computes a path, the path is more likely to stay near the centerline of the trailer rather than get closer to the sides.