System and methods for obstacle mapping and navigation
First Claim
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1. A method of mapping an obstacle within an environment, comprising the steps of:
- transmitting wirelessly a plurality of signals from a first robot to a second robot at randomly chosen distances and angles relative to an origin, wherein the first robot and the second robot each include an adaptive directional narrow-beam antenna and do not attempt to have a specific coordinated pattern of movement;
receiving the plurality of signals by the second robot to obtain received signals, wherein portions of the received signals are attenuated by one or more properties of the obstacle;
measuring by the second robot the plurality of received signals to obtain wireless measurements; and
constructing a binary map of pixel values by the second robot from the wireless measurements, wherein the one or more properties of the obstacle is represented by a non-zero pixel value and the absence of the one or more properties of the obstacle is represented by a zero pixel value, the binary map of pixel values representing a map of the environment including the obstacle.
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Abstract
A system and methods for building a map non-invasively (i.e. mapping of occluded and non-occluded obstacles) based on a small number of wireless channel measurements. Approaches for building an obstacle map are based on coordinated space, random space and frequency sampling, such that the sparse representation of the map in space, wavelet or spatial variations, are exploited in order to build the map with minimal sensing.
69 Citations
15 Claims
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1. A method of mapping an obstacle within an environment, comprising the steps of:
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transmitting wirelessly a plurality of signals from a first robot to a second robot at randomly chosen distances and angles relative to an origin, wherein the first robot and the second robot each include an adaptive directional narrow-beam antenna and do not attempt to have a specific coordinated pattern of movement; receiving the plurality of signals by the second robot to obtain received signals, wherein portions of the received signals are attenuated by one or more properties of the obstacle; measuring by the second robot the plurality of received signals to obtain wireless measurements; and constructing a binary map of pixel values by the second robot from the wireless measurements, wherein the one or more properties of the obstacle is represented by a non-zero pixel value and the absence of the one or more properties of the obstacle is represented by a zero pixel value, the binary map of pixel values representing a map of the environment including the obstacle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system for mapping an obstacle within an environment, comprising:
at least two robot devices, wherein each robot device comprises; a wireless card; an adaptive directional narrow-beam antenna configured to transmit and to receive wireless signals; a removable electromechanical fixture including a servo motor control mechanism, wherein the removable electromechanical fixture holds the adaptive directional narrow-beam antenna and the servo motor control mechanism rotates the adaptive directional narrow-beam antenna such that it can point at any desired direction; a processor, wherein the processor is configured to perform the following steps; gathering a plurality of wireless measurements based on the wireless signals at randomly chosen distances and angles relative to an origin while the robot devices do not attempt to have a specific coordinated pattern of movement to obtain gathered wireless measurements, the gathered wireless measurements being random wireless measurements; reconstructing the environment based on the random wireless measurements; and creating an obstacle map. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15)
Specification