METHOD AND SYSTEM FOR ENHANCING OPERATING PERFORMANCE OF AN AUTONOMIC MOBILE ROBOTIC DEVICE

• US 20120101679A1
• Filed: 10/26/2010
• Published: 04/26/2012
• Est. Priority Date: 10/26/2010
• Status: Abandoned Application

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne, Bodwell, Mark, Foessel, Alex, Hein, Thomas K.
• Application Number:
  US12/911,872
• Publication Number:
  US 20120101679A1
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 75/185 Avoiding collisions with obstacles
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 2219/39254 Behaviour controller, robot have feelings, learns behaviour
• CPC Class Codes: G05B 2219/40515 Integration of simulation and planning
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

A mechanism for optimizing behavior of an autonomous mobile robotic device. A first set of robotic behaviors is created based on a set of work area parameters and a behavior selection. The autonomous mobile robotic device is controlled using the first set of robotic behaviors. Performance data indicative of a performance of the autonomous mobile robotic device when controlled by the first set of robotic behaviors is collected. The performance data is analyzed to create a second set of robotic behaviors having enhanced performance relative to the first set of robotic behaviors. The first set of robotic behaviors is replaced with the second set of robotic behaviors to control the autonomous mobile robotic device using the second set of robotic behaviors.

Claims

1. A method for optimizing behavior of an autonomous mobile robotic device, comprising:

creating a first set of robotic behaviors based on a set of work area parameters and a behavior selection;

controlling the autonomous mobile robotic device using the first set of robotic behaviors;

analyzing performance data indicative of a performance of the autonomous mobile robotic device when controlled by the first set of robotic behaviors to create a second set of robotic behaviors having enhanced performance relative to the first set of robotic behaviors; and

replacing the first set of robotic behaviors with the second set of robotic behaviors to control the autonomous mobile robotic device using the second set of robotic behaviors.

2. The method of claim 1, wherein the set of work area parameters comprises at least one of work area perimeter, work area topology, a keep-out region within the work area, and an identified object within the work area.

3. The method of claim 1, wherein the set of work area parameters comprises at least one of (i) results of an automated analysis of a human generated sketch of the work area, (ii) results of an automated analysis of a human annotated aerial image of the work area, and (iii) results of an automated analysis of a three-dimensional synthetic image of the work area.

4. The method of claim 1, wherein analyzing the performance data comprises at least one of (i) time to perform a task, (ii) likelihood of successfully completing the task, (iii) amount of energy used in completing the task, (iv) resulting benefit to the work area in completing the task, and (v) damage to the work area in completing the task.

5. The method of claim 4, wherein the task is one of area coverage, mowing, vacuuming, cleaning, material application and material collection.

6. The method of claim 1, wherein the performance data is field performance data received from the autonomous mobile robotic device that is indicative of the performance of the autonomous mobile robotic device at the work area when controlled by the first set of robotic behaviors.

7. The method of claim 6, wherein the first set of robotic behaviors is selected from a master set of preexisting behaviors using at least one of a genetic algorithm and fuzzy rules.

8. The method of claim 1, wherein the performance data is simulated performance generated by a simulation tool.

9. A system for optimizing behavior of an autonomous mobile robotic device, comprising:

a machine controller comprising a machine control process and a behavior library comprising behavioral processes that are operable to control a behavior of the autonomous mobile robotic device;

a simulator tool that generates an updated behavioral process based on performance data of the autonomous mobile robotic device and a set of work area parameters; and

an update mechanism to update the behavior library with the updated behavioral process.

10. The system of claim 9, wherein the set of work area parameters comprises at least one of work area perimeter, work area topology, a keep-out region within the work area, and an identified object within the work area.

11. The system of claim 9, wherein the set of work area parameters comprises at least one of (i) results of an automated analysis of a human generated sketch of the work area, (ii) results of an automated analysis of a human annotated aerial image of the work area, and (iii) results of an automated analysis of a three-dimensional synthetic image of the work area.

12. The system of claim 11, wherein the performance data is field performance data received from the autonomous mobile robotic device that is indicative of the performance of the autonomous mobile robotic device at a work area when controlled by a first set of robotic behaviors of the behavioral library.

13. The system of claim 12, wherein the first set of robotic behaviors is selected from a master set of preexisting behaviors using at least one of a genetic algorithm and fuzzy rules.

14. The system of claim 11, wherein the performance data is simulated performance generated by a simulation tool.

15. A computer program product having program code stored on a computer readable storage medium, where the program code is operable by a data processing system for optimizing behavior of an autonomous mobile robotic device by performing steps of:

creating a first set of robotic behaviors based on a set of work area parameters and a behavior selection;

controlling the autonomous mobile robotic device using the first set of robotic behaviors;

analyzing performance data indicative of a performance of the autonomous mobile robotic device when controlled by the first set of robotic behaviors to create a second set of robotic behaviors having enhanced performance relative to the first set of robotic behaviors; and

replacing the first set of robotic behaviors with the second set of robotic behaviors to control the autonomous mobile robotic device using the second set of robotic behaviors.

16. The computer program product of claim 15, wherein the set of work area parameters comprises at least one of work area perimeter, work area topology, a keep-out region within the work area, and an identified object within the work area.

17. The computer program product of claim 15, wherein the set of work area parameters comprises at least one of (i) results of an automated analysis of a human generated sketch of the work area, (ii) results of an automated analysis of a human annotated aerial image of the work area, and (iii) results of an automated analysis of a three-dimensional synthetic image of the work area.

18. The computer program product of claim 15, wherein the analyzing the performance data comprises at least one of (i) time to perform a task, (ii) likelihood of successfully completing the task, (iii) amount of energy used in completing the task, (iv) resulting benefit to the work area in completing the task, and (v) damage to the work area in completing the task.

19. The computer program product of claim 15, wherein the performance data is field performance data received from the autonomous mobile robotic device that is indicative of the performance of the autonomous mobile robotic device at the work area when controlled by the first set of robotic behaviors.

20. The computer program product of claim 15, wherein the performance data is simulated performance generated by a simulation tool.