Robot using absolute azimuth and mapping method thereof
First Claim
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1. A robot using an absolute azimuth to navigate, comprising:
- a control unit controlling a traveling direction of a body of the robot using the absolute azimuth, which indicates an orientation of the body with respect to a specified reference axis; and
a drive unit moving the body under the control of the control unit.
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Abstract
A robot using an absolute azimuth to navigate and a mapping method thereof. The robot includes a control unit controlling a traveling direction of a body of the robot by using the absolute azimuth, which indicates an orientation of the body with respect to a specified reference axis, and a drive unit moving the body under the control of the control unit.
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Citations
27 Claims
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1. A robot using an absolute azimuth to navigate, comprising:
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a control unit controlling a traveling direction of a body of the robot using the absolute azimuth, which indicates an orientation of the body with respect to a specified reference axis; and a drive unit moving the body under the control of the control unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A mapping method of a robot using an absolute azimuth for navigation, comprising:
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controlling a traveling direction of a body of the robot using the absolute azimuth, which indicates an orientation of the body with respect to a specified reference axis; and moving the body under control of a control unit. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A robot, comprising:
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a drive unit advancing the robot along a traveling path in a specified area; a compass unit outputting information about an absolute azimuth indicating an orientation of the robot; a sensor unit sensing a distance between the robot and an obstacle; a control unit determining, using the sensed distance, an absolute azimuth of the obstacle based on the measured distance, when the obstacle is on the side of the robot, based on an average value of the absolute azimuth measured for a specified time, turning the robot in accordance with the measured absolute azimuth of the obstacle so that the absolute azimuth of the robot is parallel to the absolute azimuth of the obstacle, then moving the robot forward by turning the robot according to the measured absolute azimuth of the obstacle so that the absolute azimuth of the robot is parallel to the absolute azimuth of the obstacle; and a drawing unit mapping the specified area based on the traveling path of the robot and, when the traveling path is a closed loop, smoothing a generated map.
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26. A method of improving an accuracy of mapping of a specified area, comprising:
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advancing a robot along traveling path; outputting information indicating an orientation of the robot; sensing a distance between the robot and an obstacle; determining, using the sensed distance, an absolute azimuth of the obstacle based on an average value of the absolute azimuth indicating an orientation of the body measured for a specified time; mapping the specified area based on the traveling path; and determining whether the traveling path of the body forms a closed loop and smoothing the map when the traveling path of the body forms a closed loop.
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27. A robot, comprising:
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a control unit controlling movement of the robot in a specified area using an absolute azimuth of the robot so that the robot maintains a predetermined distance range from an obstacle positioned on a side of the robot, by moving the robot forward and/or toward in a specified direction at a right angle, on the basis of a center azimuth of an interior of the specified area; and a drawing unit mapping the specified area using information from the control unit based on a traveling path of the robot, wherein the absolute azimuth is an angle inclined with respect to a reference axis and indicating an orientation of the robot with respect to the reference axis, and wherein the reference axis is a center azimuth of an interior of the specified area.
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Specification