Mobile robot steering method and control device

  • US 6,076,025 A
  • Filed: 01/29/1998
  • Issued: 06/13/2000
  • Est. Priority Date: 01/29/1997
  • Status: Expired due to Term
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First Claim
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1. A mobile robot steering method in which a mobile robot, equipped with sensors on both sides of said robot for detecting a boundary of an given area to be covered, is controlled to run throughout said area, said method comprising the steps of:

  • conducting a spiral running motion which starts from any desired location in said area, wherein said spiral running motion has a radius which is gradually increased by a predetermined quantity;

    when a distance between said robot and said boundary of said area, detected by said sensors, is smaller than a predetermined distance, discontinuing said spiral running motion, conducting a turning motion from a forward direction through a predetermined angle to part from said boundary of said area, and then conducting a forward running motion;

    thereafter repeating, a similar turning and a similar forward running motion whenever detecting said boundary of said area; and

    resuming said spiral running motion at a first location spaced by a predetermined distance of a last forward running from a second location where a last turning motion conducted, when said turning motion has been repeated a predetermined number of times.

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