Method and system for multi-mode coverage for an autonomous robot

  • US 6,809,490 B2
  • Filed: 06/12/2002
  • Issued: 10/26/2004
  • Est. Priority Date: 06/12/2001
  • Status: Active Grant
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 operational modes and to select from among the plurality of modes in real time in response to signals generated by the obstacle detection sensor, said plurality of operational modes comprising;

    a spot-coverage mode whereby the robot operates in an isolated area, 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 the obstacle, and wherein, when in the obstacle following mode, the robot travels adjacent to an obstacle for a distance at least twice the work width of the robot.

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