Localization and Mapping Using Physical Features
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Abstract
A method includes maneuvering a robot in (i) a following mode in which the robot is controlled to travel along a path segment adjacent an obstacle, while recording data indicative of the path segment, and (ii) in a coverage mode in which the robot is controlled to traverse an area. The method includes generating data indicative of a layout of the area, updating data indicative of a calculated robot pose based at least on odometry, and calculating a pose confidence level. The method includes, in response to the confidence level being below a confidence limit, maneuvering the robot to a suspected location of the path segment, based on the calculated robot pose and the data indicative of the layout and, in response to detecting the path segment within a distance from the suspected location, updating the data indicative of the calculated pose and/or the layout.
25 Citations
35 Claims
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1-16. -16. (canceled)
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17. A method of navigating an autonomous cleaning robot within an area, the method comprising:
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maneuvering the robot about the area to clean the area while generating data indicative of a robot pose relative to a physical layout of the area or data indicative of a physical layout of the area, the physical layout of the area defined by one or more edges; in response to a robot pose confidence level being below a predetermined confidence limit, selecting a path segment from among a plurality of path segments adjacent the one or more edges and selecting a trajectory of the robot to approach a suspected location of the path segment; maneuvering the robot along the selected trajectory toward the suspected location of the path segment; and in response to detecting the path segment within a distance from the suspected location of the path segment, updating the data indicative of the robot pose or the data indicative of the physical layout of the area. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A method of navigating an autonomous cleaning robot within an area, the method comprising:
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maneuvering the robot in a following mode in which the robot is controlled to travel along a plurality of path segments adjacent one or more edges defining the area; maneuvering the robot in a coverage mode in which the robot is controlled to traverse a first portion of the area while performing a function; after the robot traverses the first portion of the area in the coverage mode, maneuvering the robot from a location in the area toward a location of a path segment of the plurality of path segments, and, upon detecting the one or more edges, maneuvering the robot in the following mode in which the robot is controlled to travel adjacent to the one or more edges such that the robot travels along at least the path segment; and after the robot travels along at least the path segment, redirecting the robot toward the location in the area and then maneuvering the robot in the coverage mode to traverse a second portion of the area while performing the function.
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Specification