Waypoint Navigation Rerouting Using Alternate Edges Around Obstacles
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Solution Overview
Problem
Robotic devices navigating constrained environments can become stuck due to limited obstacle maps that constrain exploration, leading to inability to navigate around obstacles within the sensing range threshold, thereby limiting flexibility and efficiency.
Innovation Solution
A system and method for robotic navigation that generates alternate waypoints and edges using image data and topological maps to bypass obstacles, allowing the robot to reroute around blockages while maintaining a deterministic and flexible navigation path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses a limited obstacle map within sensing range threshold, then the navigation system remains simple and computationally efficient, but the robot becomes stuck and cannot navigate around obstacles
Solution Approach 1:
The system pre-generates multiple alternate waypoints and corresponding alternate edges at each route waypoint before navigation is needed. These alternate paths are prepared in advance and stored in the topological map, allowing the robot to quickly switch to a pre-computed alternate route when an obstacle is detected, rather than computing new paths in real-time
Solution Approach 2:
The system transforms the navigation problem from a two-dimensional path selection problem into a three-dimensional graph structure by adding vertical layers of alternate waypoints above and below the original route. This creates multiple dimensional paths (original route, alternate routes above, alternate routes below) that the robot can traverse, effectively adding a new dimension to the navigation space
2Adaptability or versatility
If the robot follows a fixed navigation route, then the navigation path is deterministic and simple to implement, but the robot cannot adapt when route edges are blocked by obstacles
Solution Approach 1:
The navigation route transitions from a static fixed path to a dynamic adaptive path. The system continuously monitors the navigation environment and dynamically switches between the original route and alternate routes based on real-time obstacle detection, making the route flexible and adaptive to changing conditions
Solution Approach 2:
The topological map serves as an intermediary data structure that stores multiple alternate waypoints and edges. When the original route is blocked, the system uses this intermediary topological map to find and switch to an alternate route, avoiding the need for complex real-time path recalculation while maintaining adaptability
3Adaptability or versatility
If the robot generates alternate waypoints and edges, then the robot can bypass obstacles with additional flexibility, but the computational complexity and data processing requirements increase
Solution Approach 1:
The navigation path is segmented into discrete route waypoints, with multiple alternate waypoints generated at each segment point. This segmentation allows the system to manage complexity by breaking down the overall path into manageable segments, where only local alternate paths need to be generated and stored at each waypoint rather than computing the entire alternate route at once
Data Source
AI summary
A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations including obtaining a topological map including waypoints and edges. Each edge connects adjacent waypoints. The waypoints and edges represent a navigation route for the robot to follow. Operations include determining, that an edge that connects first and second waypoints is blocked by an obstacle. Operations include generating, using image data and the topological map, one or more alternate waypoints offset from one of the waypoints. For each alternate waypoint, operations include generating an alternate edge connecting the alternate waypoint to a waypoint. Operations include adjusting the navigation route to include at least one alternate waypoint and alternate edge that bypass the obstacle. Operations include navigating the robot from the first waypoint to an alternate waypoint along the alternate edge connecting the alternate waypoint to the first waypoint.