Localization and mapping using physical features
First Claim
1. A method of navigating an autonomous cleaning robot within an area, the method comprising:
- maneuvering the robot about the areawhile generating (i) data indicative of a robot pose relative to a physical layout of the area, or (ii) data indicative of the physical layout of the area, andwhile generating data indicative of a plurality of path segments adjacent one or more edges at least partially defining the physical layout of the area;
in response to a robot pose confidence level being below a predetermined confidence limit, selecting a path segment from among the plurality of path segments and selecting a trajectory of the robot to approach a suspected location of the path segment from an initial location of the robot;
maneuvering the robot from the initial location of the robot, along the selected trajectory, and toward the suspected location of the path segment; and
in response to detecting the path segment within a distance from the suspected location of the path segment, updating (i) the data indicative of the robot pose or (i) the data indicative of the physical layout of the area.
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Accused Products
Abstract
A method includes maneuvering a robot in (i) a following mode in which the robot is controlled to travel along a path segment adjacent an obstacle, while recording data indicative of the path segment, and (ii) in a coverage mode in which the robot is controlled to traverse an area. The method includes generating data indicative of a layout of the area, updating data indicative of a calculated robot pose based at least on odometry, and calculating a pose confidence level. The method includes, in response to the confidence level being below a confidence limit, maneuvering the robot to a suspected location of the path segment, based on the calculated robot pose and the data indicative of the layout and, in response to detecting the path segment within a distance from the suspected location, updating the data indicative of the calculated pose and/or the layout.
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Citations
18 Claims
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1. A method of navigating an autonomous cleaning robot within an area, the method comprising:
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maneuvering the robot about the area while generating (i) data indicative of a robot pose relative to a physical layout of the area, or (ii) data indicative of the physical layout of the area, and while generating data indicative of a plurality of path segments adjacent one or more edges at least partially defining the physical layout of the area; in response to a robot pose confidence level being below a predetermined confidence limit, selecting a path segment from among the plurality of path segments and selecting a trajectory of the robot to approach a suspected location of the path segment from an initial location of the robot; maneuvering the robot from the initial location of the robot, along the selected trajectory, and toward the suspected location of the path segment; and in response to detecting the path segment within a distance from the suspected location of the path segment, updating (i) the data indicative of the robot pose or (i) the data indicative of the physical layout of the area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification