Navigational control system for a robotic device

  • US 10,813,517 B2
  • Filed: 03/09/2018
  • Issued: 10/27/2020
  • Est. Priority Date: 09/13/2002
  • Status: Active Grant
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First Claim
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1. An autonomous cleaning apparatus comprising:

  • a cleaning head;

    a drive system operable to move the cleaning apparatus along a surface of a working environment while the cleaning head cleans the surface; and

    a receiving system configured toprior to initiation of a cleaning mission of the cleaning apparatus, store a map of at least a portion of the working environment based on previously determined positions of the cleaning apparatus and autonomously identify a hot spot in the map based on the previously determined positions of the cleaning apparatus,determine, during the cleaning mission, a position of the cleaning apparatus in the working environment, andcause the cleaning apparatus, during the cleaning mission, to initiate a spot coverage cleaning behavior of the cleaning apparatus in response to the determined position of the cleaning apparatus corresponding to the hot spot in the stored map.

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