Robotic follow system and method

  • US 7,211,980 B1
  • Filed: 07/05/2006
  • Issued: 05/01/2007
  • Est. Priority Date: 07/05/2006
  • Status: Active Grant
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First Claim
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1. A method for a robot to follow a target in its environment, comprising:

  • receiving a target bearing from a target tracking behavior; and

    sensing whether the robot is blocked in a front direction and if so, then;

    adjusting the robot'"'"'s motion to avoid a nearest obstacle in the front direction by adjusting at least one of a rotational direction, a rotational velocity, a translational direction, and a translational velocity; and

    if the robot is not blocked in front, then;

    sensing whether the robot is blocked toward the target bearing and if so, then;

    setting the rotational direction opposite from that of the target bearing;

    adjusting the rotational velocity to a first fractional amount of a maximum rotational velocity; and

    adjusting the translational velocity to a second fractional amount of a maximum translational velocity; and

    if the robot is not blocked toward the target bearing, then;

    adjusting the rotational velocity proportional to an angle of the target bearing; and

    adjusting the translational velocity proportional to a distance to the nearest obstacle in the front direction.

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