Apparatus and method for navigation path compensation
Described herein are an apparatus and a method for path correction of a vehicle travelling from a first marker to a second marker. The method includes the steps of: computing, by circuitry of an information processing apparatus, an offset in a location of the vehicle with respect to the first marker; dividing a distance between the first maker and the second marker into a predetermined number of segments; computing a speed profile of the vehicle based on the distance between the first marker and the second marker; generating a compensation curve based on the computed offset and a plurality of interpolation points; and modifying, upon each segment being traversed by the vehicle, the speed profile of the vehicle.
1. A method for path correction of a vehicle travelling from a first marker to a second marker, the method comprising:
computing, by circuitry of an information processing apparatus, an offset in a location of the vehicle with respect to the first marker;
dividing a distance between the first maker and the second marker into a predetermined number of segments;
computing a speed profile of the vehicle based on the distance between the first marker and the second marker;
generating a compensation curve based on the computed offset and a plurality of interpolation points; and
modifying, upon each segment being traversed by the vehicle, the speed profile of the vehicle.
2. The method according to claim 1 , wherein
the offset is computed based on a first displacement of the vehicle with respect to the first marker along a first reference axis, and a second displacement of the vehicle with respect to the first marker along a second reference axis, and wherein the offset has a magnitude corresponding to a displacement between a predetermined reference point of the vehicle at the location and a center of the first marker.
3. The method according to claim 2 , wherein the first reference axis lies along a line connecting the center of the first marker to a center of the second marker, and wherein, the second reference axis is perpendicular to the first reference axis.
4. The method according to claim 1 , further comprising:
computing by the circuitry, for each interpolation point of the plurality of interpolation points, coordinates along a first reference axis and a second reference axis, the coordinates being computed based on an angular deviation of the vehicle with respect to the first marker.
5. The method according to claim 1 , wherein the compensation curve is a polynomial curve.
6. The method according to claim 1 , wherein the modifying step further comprises:
receiving, an image captured by the vehicle, when the vehicle is disposed within a predetermined range of the first marker;
processing, by the circuitry, the received image to compute the offset; and
transmitting, an instruction to control a motion of the vehicle at each segment.
7. The method according to claim 1 , wherein the vehicle includes a weighing device arranged to weigh items transported by the vehicle, the speed profile of the vehicle being modified based on at least one of the weight of the items and a reading of a wheel counter disposed on the vehicle.
8. The method according to claim 1 , wherein the computing the speed profile step comprises:
computing based on a distance between the first marker and the second marker, an acceleration distance, a deceleration distance, and a maximum speed of traversal of the vehicle.
9. An information processing apparatus, the information processing apparatus comprising:
circuitry configured to
compute an offset in a location of a vehicle with respect to a first marker,
divide a distance between the first maker and a second marker into a predetermined number of segments,
compute a speed profile of the vehicle based on the distance between the first marker and the second marker,
generate a compensation curve based on the computed offset and a plurality of interpolation points, and
modify, upon each segment being traversed by the vehicle, the speed profile of the vehicle.
10. The information processing apparatus according to claim 9 , wherein the offset is computed based on a first displacement of the vehicle with respect to the first marker along a first reference axis, and a second displacement of the vehicle with respect to the first marker along a second reference axis, and wherein the offset has a magnitude corresponding to a displacement between a predetermined reference point of the vehicle at the location and a center of the first marker.
11. The information processing apparatus according to claim 10 , wherein the first reference axis lies along a line connecting the center of the first marker to a center of the second marker, and wherein, the second reference axis is perpendicular to the first reference axis.
12. The information processing apparatus according to claim 9 , wherein the circuitry is further configured to:
compute, for each interpolation point of the plurality of interpolation points, coordinates along a first reference axis and a second reference axis, the coordinates being computed based on an angular deviation of the vehicle with respect to the first marker.
13. The information processing apparatus according to claim 9 , wherein the compensation curve is a polynomial curve.
14. The information processing apparatus according to claim 9 , wherein the circuitry is further configured to
receive an image captured by the vehicle, when the vehicle is disposed within a predetermined range of the first marker;
process the received image to compute the offset; and
transmit an instruction to control a motion of the vehicle at each segment.
15. The information processing apparatus according to claim 9 , wherein the vehicle includes a weighing device arranged to weigh items transported by the vehicle, the speed profile of the vehicle being modified based on at least one of the weight of the items and a reading of a wheel counter disposed on the wheel.
16. The information processing apparatus according to claim 9 , wherein the circuitry is further configured to compute, based on a distance between the first marker and the second marker, an acceleration distance, a deceleration distance, and a maximum speed of traversal of the vehicle.
17. A non-transitory computer readable medium having stored thereon a program that when executed by a computer, causes the computer to execute a method for path correction of a vehicle travelling from a first marker to a second marker, the method comprising:
computing an offset in a location of the vehicle with respect to the first marker;
dividing a distance between the first maker and the second marker into a predetermined number of segments;
computing a speed profile of the vehicle based on the distance between the first marker and the second marker;
generating a compensation curve based on the computed offset and a plurality of interpolation points; and
modifying, upon each segment being traversed by the vehicle, the speed profile of the vehicle.
18. The non-transitory computer readable medium according to claim 17 , wherein the offset is computed based on a first displacement of the vehicle with respect to the first marker along a first reference axis, and a second displacement of the vehicle with respect to the first marker along a second reference axis, and wherein the offset has a magnitude corresponding to a displacement between a predetermined reference point of the vehicle at the location and a center of the first marker.
19. The non-transitory computer readable medium according to claim 18 , wherein the first reference axis lies along a line connecting the center of the first marker to a center of the second marker, and wherein, the second reference axis is perpendicular to the first reference axis.
20. The non-transitory computer readable medium according to claim 17 , the method further comprising:
computing, for each interpolation point of the plurality of interpolation points, coordinates along a first reference axis and a second reference axis, the coordinates being computed based on an angular deviation of the vehicle with respect to the first marker.
21. The non-transitory computer readable medium according to claim 17 , wherein the compensation curve is a polynomial curve.
22. The non-transitory computer readable medium according to claim 17 , wherein the modifying step further comprises:
receiving, an image captured by the vehicle, when the vehicle is disposed within a predetermined range of the first marker;
processing the received image to compute the offset; and
transmitting, an instruction to control a motion of the vehicle at each segment.
23. The non-transitory computer readable medium according to claim 17 , wherein the vehicle includes a weighing device arranged to weigh items transported by the vehicle, the speed profile of the vehicle being modified based on at least one of the weight of the items and a reading of a wheel counter disposed on the vehicle.
24. The non-transitory computer readable medium according to claim 17 , wherein the computing the speed profile step comprises:
computing based on a distance between the first marker and the second marker, an acceleration distance, a deceleration distance, and a maximum speed of traversal of the vehicle.