Wheeled Robot SLAM Mapping With Real-Time Low-Power Segmentation
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Solution Overview
Problem
Robotic devices face challenges with high computational cost, slow response, and high battery power consumption due to reliance on Robot Operating System (ROS) or Linux for real-time decision making, which is not suitable for mass production and consumer acceptance, particularly in applications requiring real-time navigation around obstacles.
Innovation Solution
A method for a battery-operated wheeled device using a primary sensor to capture radial distances, transforming data to a device perspective, generating a real-time partial map, and iteratively completing a full map while executing movement paths, utilizing a processor to optimize computational efficiency and reduce boot-up times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If ROS or Linux is used for real-time decision making, then higher level applications can be run, but computational cost increases and response time slows down
Solution Approach 1:
The system divides computational tasks into two segments: real-time critical functions (SLAM, navigation, obstacle detection) are executed on a dedicated real-time operating system, while non-real-time functions (higher level applications) run on a separate system. This segmentation allows real-time decisions to be made quickly without being burdened by heavier computational loads, resolving the contradiction between versatility and response time.
2Adaptability or versatility
If ROS or Linux is used for real-time decision making, then higher level applications can be run, but battery power consumption increases
Solution Approach 1:
The system segments power consumption by dedicating a low-power real-time operating system to critical navigation functions and separating higher level applications that can tolerate higher power usage. This allows the robot to maintain essential real-time capabilities with minimal power consumption while still supporting additional applications when energy is available.
3Reliability
If more processing power is used to compensate for lack of real-time guarantees, then real-time capability improves, but computational cost increases
Solution Approach 1:
The system introduces a real-time operating system as an intermediary layer between the hardware and higher level applications. This intermediary provides real-time guarantees for critical functions without requiring the entire system to have high computational power, thus achieving reliability without excessive complexity.
Data Source
AI summary
Some aspects include a method for operating a wheeled device, including: capturing, by a primary sensor coupled to the wheeled device, primary sensor data indicative of a plurality of radial distances to objects; transforming, by a processor of the wheeled device, the plurality of radial distances from a perspective of the primary sensor to a perspective of the wheeled device; generating, by the processor, a partial map of visible areas in real-time at a first position of the wheeled device based on the primary sensor data and some secondary sensor data, wherein: the partial map is a bird's eye view; and the processor iteratively completes a full map of the environment based on new sensor data captured by sensors as the wheeled device performs work within the environment and new areas become visible to the sensors; and executing, by the wheeled device, a movement path to a second position.