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

  • US 9,327,407 B2
  • Filed: 07/07/2015
  • Issued: 05/03/2016
  • Est. Priority Date: 06/12/2001
  • Status: Active Grant
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First Claim
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1. A mobile robot comprising:

  • drive wheels operable to move the robot over a surface;

    an obstacle detection sensor; and

    a control system operatively connected to the obstacle detection sensor and to the drive wheels;

    wherein said control system is configured to;

    operate the robot in a plurality of modes including both an obstacle following mode in which the robot travels adjacent to an encountered obstacle, and a bounce mode in which the robot travels away from an encountered obstacle;

    track a frequency of obstacle encounters; and

    to operate the robot in the obstacle following mode over a distance determined as a function of the tracked frequency of obstacle encounters.

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