Method and System for Multi-Mode Coverage For An Autonomous Robot
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Abstract
A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.
13 Citations
15 Claims
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1. (canceled)
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2. A mobile robot comprising:
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drive wheels operable to move the robot over a surface; an obstacle detection sensor; and a control system operatively connected to the obstacle detection sensor and to the drive wheels; wherein said control system is configured to; operate the robot in a plurality of modes including both an obstacle following mode in which the robot travels adjacent to an encountered obstacle, and a bounce mode in which the robot travels away from an encountered obstacle; track a frequency of obstacle encounters; and
tooperate the robot in the obstacle following mode over a distance determined as a function of the tracked frequency of obstacle encounters. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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Specification