Method and/or apparatus for navigating mobile robot using virtual sensor
First Claim
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1. A navigation method using a virtual sensor, comprising:
- (a) generating, by at least one processor, information on positions of obstacles, wherein the information includes information on positions of the obstacles generated by physical sensors and information being generated by virtual sensors that are virtually present at virtual positions, which have different direction angles from each other, based on the information on positions of the obstacles generated by physical sensors, which have different direction angles from the direction angles of at least one of the virtual sensors, and the direction angles of the virtual sensors; and
(b) controlling a movement of a robot using at least one sensor-based control method to which the information generated by the virtual sensors is inputted as the information generated by the physical sensors and the information generated by the physical sensors,wherein both of the information generated by the virtual sensors and the information generated by the physical sensors, are the same type of information on positions of the obstacles, which represents distances between the obstacles and the robot at the direction angle of each of the physical sensors and the virtual sensors, andwherein information generated by one virtual sensor of the virtual sensors has only one value representing numerical distance between the obstacles and the robot at the direction angle of the one virtual sensor, the one value being the same type of information as information generated by one physical sensor of the physical sensors, andwherein at least one of the virtual sensors has a direction angle which is different from the direction angles of the physical sensors.
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Abstract
A method and apparatus of improving the navigation performance of robot are provided. The navigation method using a virtual sensor includes: generating information on positions of obstacles, the information which is estimated to be generated by virtual sensors that are virtually present, based on information on positions of the obstacles, which is generated by physical sensors; and controlling a movement of a robot according to the information on the positions of the obstacles. It is possible to overcome limits in the number and arrangement of previously installed physical sensors.
17 Citations
8 Claims
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1. A navigation method using a virtual sensor, comprising:
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(a) generating, by at least one processor, information on positions of obstacles, wherein the information includes information on positions of the obstacles generated by physical sensors and information being generated by virtual sensors that are virtually present at virtual positions, which have different direction angles from each other, based on the information on positions of the obstacles generated by physical sensors, which have different direction angles from the direction angles of at least one of the virtual sensors, and the direction angles of the virtual sensors; and (b) controlling a movement of a robot using at least one sensor-based control method to which the information generated by the virtual sensors is inputted as the information generated by the physical sensors and the information generated by the physical sensors, wherein both of the information generated by the virtual sensors and the information generated by the physical sensors, are the same type of information on positions of the obstacles, which represents distances between the obstacles and the robot at the direction angle of each of the physical sensors and the virtual sensors, and wherein information generated by one virtual sensor of the virtual sensors has only one value representing numerical distance between the obstacles and the robot at the direction angle of the one virtual sensor, the one value being the same type of information as information generated by one physical sensor of the physical sensors, and wherein at least one of the virtual sensors has a direction angle which is different from the direction angles of the physical sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A navigation method using a virtual sensor, comprising:
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(a) generating, by at least one processor, information on positions of obstacles, wherein the information includes information on positions of the obstacles generated by physical sensors and information being generated by virtual sensors that are virtually present at virtual positions, which have different direction angles from each other, based on the information on positions of the obstacles generated by physical sensors, which have different direction angles from the direction angles of at least one of the virtual sensors, and the direction angles of the virtual sensors; (b) controlling a movement of a robot using at least one sensor-based control method to which the information generated by the virtual sensors is inputted as the information generated by the physical sensors and the information generated by the physical sensors, (c) selecting one of a plurality of sensor arrangement types using a sensor arrangement type database, each of which has a different number of virtual sensors arranged differently from other sensor arrangement types, wherein the generating information (a) generates the information generated by the virtual sensors having direction angles according to the selected sensor arrangement type, wherein both of the information generated by the virtual sensors and the information generated by the physical sensors, are the same type of information on positions of the obstacles, which represents distances between the obstacles and the robot at the direction angle of each of the physical sensors and the virtual sensors, and wherein information generated by one virtual sensor of the virtual sensors has only one value representing numerical distance between the obstacles and the robot at the direction angle of the one virtual sensor, the one value being the same type of information as information generated by one physical sensor of the physical sensors.
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Specification