GENERATON OF MAP DATA
First Claim
1. A method for generating cartographic data, in which at least one, mobile, measurement instrument is designed to measure distances between a current position of the mobile and obstacles in an environment of the mobile, the method comprising the steps:
- a) performing at least N measurements of distances between the mobile and obstacles in said environment, by successive angular intervals of A/N each, where A is a predetermined angular sector defining at least partially said environment of the mobile, and associating said distances with the respective angular intervals in a work memory, to establish map data,b) displacing the mobile and repeating step a) for a new current position of the mobile, andc) determining, as a function of the distances measured for each angular interval of the current position of step b) and of the previous position of step a), at one and the same time;
the current position of the mobile in step b), on said map, with respect to its initial position in step a), andnew data of said map,
and in step c);
a function of global distance between the mobile and the obstacles, with respect to the map determined in step a), is determined, anda local minimum of said function is charted, characterizing a current position of the mobile in step b).
1 Assignment
0 Petitions
Accused Products
Abstract
A measurement instrument, i.e. a mobile body, measures distances between a current position of the mobile body and obstacles in the environment of the mobile body by: a) taking at least N measurements of distances between the mobile body and the obstacles, by consecutive angular steps of A/N (A is a predetermined angular sector), and combining the distances with the respective angular steps in order to establish map data; b) moving the mobile body and repeating step a) for a new current position of the mobile body; and c) simultaneously determining, according to the distances measured for each angular step of the current position of step b) and the preceding position of step a), the current position of the mobile body in step b) on the map relative to the initial position thereof in step a), and new data of the map.
-
Citations
11 Claims
-
1. A method for generating cartographic data, in which at least one, mobile, measurement instrument is designed to measure distances between a current position of the mobile and obstacles in an environment of the mobile, the method comprising the steps:
-
a) performing at least N measurements of distances between the mobile and obstacles in said environment, by successive angular intervals of A/N each, where A is a predetermined angular sector defining at least partially said environment of the mobile, and associating said distances with the respective angular intervals in a work memory, to establish map data, b) displacing the mobile and repeating step a) for a new current position of the mobile, and c) determining, as a function of the distances measured for each angular interval of the current position of step b) and of the previous position of step a), at one and the same time; the current position of the mobile in step b), on said map, with respect to its initial position in step a), and new data of said map,
and in step c);a function of global distance between the mobile and the obstacles, with respect to the map determined in step a), is determined, and a local minimum of said function is charted, characterizing a current position of the mobile in step b). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
Specification