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Simultaneous localization and mapping for a mobile robot

  • US 9,400,501 B2
  • Filed: 03/31/2015
  • Issued: 07/26/2016
  • Est. Priority Date: 11/02/2012
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving, at a computing device, sensor data from an autonomous mobile robot operating in a work environment;

    updating, using the computing device, an occupancy map of the work environment with location occupancy probabilities based on the received sensor data;

    determining, using the computing device, a localization quality of the autonomous mobile robot; and

    when the localization quality does not satisfy a threshold localization quality, executing, using the computing device, a wall-following behavior that causes the autonomous mobile robot to maneuver toward a wall in the work environment and drive adjacent to the wall until the localization quality satisfies the threshold localization quality.

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