Method and system for multi-mode coverage for an autonomous robot
First Claim
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1. A mobile robot comprising:
- (a) means for moving the robot over a surface;
(b) an obstacle detection sensor;
(c) and a control system operatively connected to said obstacle detection sensor and said means for moving;
(d) said control system configured to operate the robot in a plurality of modes, said plurality of modes comprising;
a spot-coverage mode, an obstacle following mode whereby said robot travels adjacent to an obstacle, and a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering an obstacle.
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Abstract
A control system for a mobile robot (10) is provided to Effectively cover a given area by operating in a Plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.
508 Citations
41 Claims
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1. A mobile robot comprising:
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(a) means for moving the robot over a surface;
(b) an obstacle detection sensor;
(c) and a control system operatively connected to said obstacle detection sensor and said means for moving;
(d) said control system configured to operate the robot in a plurality of modes, said plurality of modes comprising;
a spot-coverage mode, an obstacle following mode whereby said robot travels adjacent to an obstacle, and a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering an obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 27, 28, 29, 30, 31, 32, 33, 34)
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13. A mobile robot comprising:
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(a) means for moving the robot over a surface;
(b) an obstacle detection sensor;
(c) and a control system operatively connected to said obstacle detection sensor and said means for moving;
(d) said control system configured to operate the robot in a plurality of modes, said plurality of modes comprising;
an obstacle following mode whereby said robot travels adjacent to an obstacle, and a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering an obstacle;
(e) whereby said control system is configured to alternate into said obstacle following mode after a predetermined number of sensor interactions. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 35, 36)
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37. A method of controlling a mobile-robot equipped with a sensor for detecting an obstacle, said method comprising the steps of:
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a. moving in a spiral running motion;
b. discontinuing said spiral running motion after the earlier of sensing and obstacle or traveling a predetermined distance;
c. running in a substantially forward direction until an obstacle is detected;
d. turning and running along said detected obstacle;
e. turning away from said obstacle and running in a substantially forward direction; and
f. thereafter repeating said step of running along said obstacle and said step of turning away from said obstacle. - View Dependent Claims (38, 39, 40, 41)
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Specification