Methods and apparatus for position estimation using reflected light sources

  • US 9,360,300 B2
  • Filed: 06/02/2014
  • Issued: 06/07/2016
  • Est. Priority Date: 03/29/2004
  • Status: Expired due to Fees
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First Claim
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1. A robot comprising:

  • a drive system comprising a plurality of wheels;

    an optical position sensor; and

    a control system configured to perform operations comprising;

    estimating a position of the robot using the optical position sensor and wheel odometry data for the plurality of wheels;

    tracking a history of a plurality of paths taken by the robot using a plurality of estimated positions; and

    detecting a light projected by a handheld device and guiding the robot to a location based on the light projected by the handheld device.

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