Obstacle following sensor scheme for a mobile robot

  • US 8,478,442 B2
  • Filed: 05/23/2008
  • Issued: 07/02/2013
  • Est. Priority Date: 01/24/2000
  • Status: Active Grant
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First Claim
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1. A method for operating a mobile robot, the method comprising the steps of:

  • detecting the presence of a wall;

    driving the robot, based on the detecting, to follow the wall until the wall is no longer detected; and

    rotating the robot to seek the wall while determining;

    whether the wall is again detected,whether the robot is in contact with the wall, andwhether the robot has turned a predetermined angle without detecting or contacting the wall,wherein detecting comprises defining a finite volume of intersection space between a signal emission region and a detection region and driving the robot comprises causing the robot to be directed back towards the wall while the wall does not occupy the intersection space.

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