Variable Resolution Grid Map for Mobile Device Path Planning
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Solution Overview
Problem
Current path planning methods in SLAM-based systems suffer from low efficiency and space waste due to fixed grid resolution, which is not dependent on the complexity of the environment, leading to inefficient navigation and resource utilization.
Innovation Solution
A method that divides the grid map into pixel blocks, determines a search area based on unoccupied blocks, deploys topological points, and calculates an optimal path using a topological map, reducing map resolution and improving planning efficiency while saving storage space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a grid map is generated with fixed resolution for path planning, then the entire environment is divided into several grids of the same size, but this results in low path planning efficiency and space waste due to uniform resolution not adapting to environment complexity
Solution Approach 1:
The patent divides the grid map into multiple resolution zones with different grid sizes. Areas with simple environmental features use larger grid cells to reduce storage, while areas with complex features use smaller grid cells to maintain planning accuracy. This segmentation resolves the contradiction by adapting resolution to local environmental complexity rather than using uniform grid size throughout.
Solution Approach 2:
The patent implements variable resolution where different regions of the map have different grid densities based on their complexity characteristics. High-complexity regions receive finer resolution while low-complexity regions use coarser resolution. This local quality adaptation improves path planning efficiency in critical areas while saving storage space in less critical areas, resolving the efficiency-space waste contradiction.
2Measurement precision
If the grid map resolution is increased to improve path planning accuracy, then navigation precision is enhanced, but storage requirements increase and path planning efficiency decreases
Solution Approach 1:
The patent implements dynamic resolution adjustment where the grid map resolution is not fixed but adapts based on environmental complexity. The system dynamically determines which areas require higher resolution for accurate path planning and which areas can use lower resolution. This dynamic approach maintains navigation accuracy where needed while improving overall path planning efficiency by reducing unnecessary computational overhead in low-complexity areas.
Data Source
AI summary
The present disclosure discloses a path planning method and device and a mobile device. The method comprises: collecting environmental information in a viewing angle by a sensor of a mobile device, processing the environmental information by using an SLAM algorithm, and constructing a grid map; dividing the grid map to obtain a plurality of pixel blocks, using an area constituted of pixel blocks not occupied by obstacles as a search area for path planning, and obtaining a processed grid map; determining reference points by using pixel points in the search area, and deploying topological points on the processed grid map according to the reference point determined and constructing a topological map; and calculating an optimal path from a starting point to a preset target point by using a predetermined algorithm according to the topological map constructed. The present disclosure improves path planning efficiency and saves storage resources.