METHOD AND APPARATUS FOR RELOCATION OF MOBILE ROBOT IN INDOOR ENVIRONMENT
First Claim
Patent Images
1. A relocation method for a mobile robot, the relocation method comprising:
- generating a fingerprint based on a previously built magnetic field map; and
if the mobile robot is determined as being failed in localization, relocating a location of the mobile robot based on the generated location fingerprint.
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Abstract
A method and apparatus for relocation of a mobile robot is provided. The relocation method includes the steps of generating a fingerprint based on a previously built magnetic field map, and if the mobile robot is determined as being failed in localization, relocating a location of the mobile robot based on the generated location fingerprint. The step of generating the location fingerprint includes the step of generating the location fingerprint based on the magnetic field map and location measurement values for the mobile robot that are previously measured by a radio source.
3 Citations
13 Claims
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1. A relocation method for a mobile robot, the relocation method comprising:
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generating a fingerprint based on a previously built magnetic field map; and if the mobile robot is determined as being failed in localization, relocating a location of the mobile robot based on the generated location fingerprint. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A relocation method for a mobile robot, the relocation method comprising:
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obtaining magnetic field values along a moving route of a mobile robot and measurement values based on a signal transmitted from a radio source; building a magnetic field map through SLAM based on the obtained magnetic field values; generating a location fingerprint using the built magnetic field map and the measurement values; and if the mobile robot is determined as being failed in localization, relocating a location of the mobile robot based on the generated location fingerprint.
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8. A relocation apparatus for a mobile robot, the relocation apparatus comprising:
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a fingerprint generation part configured to generate a location fingerprint based on a previously built magnetic field map; and a relocation part configured to relocate a location of a mobile robot based on the generated location fingerprint if the mobile robot is determined as being failed in localization. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification