Apparatus and method for approximation-based path planning using artificial intelligence

AI-Based Approximate Path Planning Technology Using Embedding Distance-Based Substitute Object Detection

This technology is an AI-based approximate path planning device and method that identifies substitute objects or approximate spaces when a target object is not detected by utilizing distances in an embedding vector space, and re-plans the robot's destination and movement path accordingly.

Previously, if a target object commanded by a user was not detected in the surrounding environment, it was impossible to set an endpoint, causing the robot's path planning to be interrupted and the movement task to fail.

This technology proposes a method that uses an embedding algorithm to extract a substitute object with an embedding value closest to the target object, or identifies an approximate space where the target object is highly likely to exist, and generates a path to that point. This allows tasks to continue without interruption even when recognition fails. It is applied to home service robots and indoor delivery robots to ensure autonomy that flexibly responds to the uncertainties of real-world environments.

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Key Features:

• Receiving a command indicating a movement goal by an autonomous robot and initiating path planning
• Determining whether a target object corresponding to the command exists within the captured surrounding video images
• Extracting a substitute object with the smallest embedding distance if the target object is not identified
• Generating a movement path to the extracted substitute object or approximate space and executing the navigation

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This invention was developed with support from the Artificial Intelligence Graduate School Program (Korea University) funded by the Ministry of Science and ICT.