Autonomous Mobile Robot

  • US 20080294288A1
  • Filed: 08/05/2008
  • Published: 11/27/2008
  • Est. Priority Date: 12/30/2005
  • Status: Abandoned Application
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First Claim
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1. A mobile robot, comprising:

  • a drive system configured to propel the mobile robot across terrain;

    a range sensor configured to detect a distance between the mobile robot and an object in an environment of the mobile robot; and

    a processor communicatively connected to the range sensor and to the drive system, and configured to execute;

    a mapping routine configured to maintain an occupancy grid map of the environment of the mobile robot, a linear feature routine configured to detect one or more linear patterns in the occupancy grid map and to determine a strongest line among the one or more linear patterns, and a navigational routine configured to control the drive system to move the mobile robot in a direction aligned with the strongest line among the one or more linear patterns.

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