Robots plan paths that bounce off walls to save time and effort
Planning Trajectories that Bounce: Reflection Classes for Collision-Tolerant Robots
Robotics
Summary
Robots usually try to avoid hitting walls or obstacles while moving. This can be hard for big or heavy robots that don’t turn easily and quickly. The authors came up with a way for robots to intentionally bounce off walls in a controlled way to get around faster and use less energy. They create a map of all the ways the robot can bounce off different walls and then pick the best route in terms of time and effort. Their tests show that bouncing paths can be better than just avoiding collisions.
What this means in practice
- •For industrial robot operators: Reduce the time and energy robots take to navigate cluttered factory floors by using controlled bouncing off surfaces to steer efficiently.
- •For warehouse automation teams: Create navigation strategies for large robots in tight spaces that allow controlled contact to optimize delivery speed and reduce mechanical wear.
Authors
Subhadeep Koley, Subhrajit Bhattacharya, David Saldaña
Abstract
Robot navigation methods tend to avoid contact, and consequently search for collision-free trajectories. For robots with high inertia and limited maneuverability, however, avoiding contact can require substantial steering effort and time, even when interactions with surrounding surfaces could be safely exploited. In this paper, we develop a planning method that deliberately uses controlled wall reflections to generate trajectories that can be easier and more efficient to execute than purely collision-free motion. We consider planar navigation in environments where a mobile robot is permitted to bounce off surrounding surfaces. To represent the resulting alternatives, we construct a reflection-augmented state graph in which paths are partitioned into distinct classes according to the sequence of walls used for reflection. This representation enables systematic enumeration of reflection strategies and identification of the lowest-cost path within each class. We show that, although a reflecting path cannot be shorter than the shortest collision-free path, it can reduce execution time and actuation effort by replacing costly changes in heading with controlled environmental interactions. The planned trajectories are executed using a contact-aware sampling-based controller with the robot's full dynamics. In our experiments, we demonstrate that in our simulated test scenario, the best reflecting class can reduce time and control effort. Our results show that controlled contact can provide dynamically advantageous navigation strategies that are excluded by conventional collision-avoidance formulations.