Navigational control system for a robotic device

  • US 8,781,626 B2
  • Filed: 02/28/2013
  • Issued: 07/15/2014
  • Est. Priority Date: 09/13/2002
  • Status: Active Grant
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First Claim
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1. An autonomous cleaning apparatus comprising:

  • a chassis;

    a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus;

    a controller configured to control the drive system to steer movement of the cleaning apparatus;

    a cleaning head system disposed on the chassis; and

    a sensor system in communication with the controller, wherein the sensor system comprises right and left debris sensors in communication with the controller and disposed proximate a cleaning pathway of the cleaning head system for generating respective debris signals; and

    wherein the controller is configured to direct the drive system to turn right in response to the debris signal generated by the right debris sensor and to turn left in response to the debris signal generated by the left debris sensor.

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