Apparatus and method for calculating position of robot
First Claim
1. An apparatus to calculate a position of a robot, comprising:
- a state variable calculation module which calculates a plurality of state variables regarding a plurality of possible travel states of the robot, comprising a plurality of Kalman filters;
a travel state determination module which determines a travel state from among the plurality of possible travel states of the robot based on the calculated state variables; and
a state variable update module which updates the state variables according to the determined travel state,wherein the plurality of possible travel states include a normal state and a slip state.
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Abstract
Provided are an apparatus and method of calculating the position of a robot, which determine the position of a robot and create a map of the surroundings of the robot which account for the travel state of the robot. The apparatus includes a state variable calculation module which calculates a plurality of state variables regarding a travel state of the robot by using a plurality of Kalman filters; a travel state determination module which determines the travel state of the robot based on the results of the calculation performed by the state variable calculation module; and a state variable update module which updates the state variables according to the result of the determination performed by the travel state determination module.
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Citations
20 Claims
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1. An apparatus to calculate a position of a robot, comprising:
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a state variable calculation module which calculates a plurality of state variables regarding a plurality of possible travel states of the robot, comprising a plurality of Kalman filters; a travel state determination module which determines a travel state from among the plurality of possible travel states of the robot based on the calculated state variables; and a state variable update module which updates the state variables according to the determined travel state, wherein the plurality of possible travel states include a normal state and a slip state. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of calculating a position of a robot, comprising:
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calculating a plurality of state variables regarding a plurality of possible travel states of the robot; determining, by one or more processors, a travel state of the robot from among the plurality of possible travel states based on the calculating; and updating the state variables according to the determining, wherein the plurality of possible travel states include a normal state and a slip state. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification