Autonomous Route Planning With Virtual Obstacles for Narrow Paths
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Solution Overview
Problem
Autonomous traveling devices, such as AMRs, can get stuck on narrow paths or near obstacles due to their rectangular shape, as they may not be able to rotate on the spot effectively, leading to navigation failures.
Innovation Solution
The device adds virtual obstacles to its map information, extending from the rear to the front and sides, to prevent navigation routes from heading into restricted areas, allowing it to avoid obstacles and navigate through narrow paths by modifying its route search algorithm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous traveling device determines a travel route that shortens the route length regardless of orientation, then the route efficiency is improved, but the device may get stuck on narrow paths or near obstacles where rotation on the spot is difficult
Solution Approach 1:
The system performs preliminary action by adding virtual obstacle information to the map data before route search. The virtual obstacles are positioned at locations where the device cannot rotate on the spot (narrow paths and areas near obstacles), preventing the route search algorithm from selecting routes that would lead to stuck situations. This preliminary modification of map information ensures that the shortest route is not chosen if it passes through areas where the device's rectangular shape prevents effective rotation.
2Shape
If the device uses its rectangular shape for compact design, then the device structure is improved, but the device cannot effectively rotate on the spot in narrow spaces
Solution Approach 1:
The system uses copying by creating virtual obstacles that represent the device's rotation limitations. Instead of physically modifying the device, the invention copies the constraint information (areas where rotation is difficult) into the map data as virtual obstacles. This allows the rectangular-shaped device to navigate effectively by treating the virtual obstacles as real obstacles during route search, thus compensating for the rotation limitation imposed by its rectangular shape.
3Loss of time
If the route search algorithm selects the shortest path, then the travel time is reduced, but the device may head backward or into narrow paths where it cannot maneuver
Solution Approach 1:
The virtual obstacle information serves as an intermediary between the device's physical constraints and the route search algorithm. By introducing this intermediary layer of information into the map data, the system enables the algorithm to consider maneuverability constraints without requiring complex modifications to the algorithm itself. The virtual obstacles mediate between the shortest path requirement and the device's inability to rotate on the spot, allowing efficient route selection that respects physical limitations.
Data Source
AI summary
One aspect of an autonomous traveling device includes: an information adding unit that adds, as positional information of a virtual obstacle, to map information, positional information of a virtual obstacle that passes through a rear side of the device with respect to a starting point of a travel route and continuously extends to a front side on both right and left sides of the device itself; and a route search unit that searches for a travel route based on the map information to which the positional information of the virtual obstacle is added.