Method to minimize collisions of mobile robotic device

A method for preventing a mobile robotic device from becoming stuck during a work session comprising:

• selecting, by a system of the mobile robotic device, actions to navigate through a workspace, wherein each action transitions the mobile robotic device from a current state to a next state, wherein selecting the actions comprises:
• reviewing, by the system of the mobile robotic device, all previous actions executed from a collection of states beginning with the current state of the mobile robotic device;
• calculating, by the system of the mobile robotic device, a total reward for different collections of states and actions;
• and
• selecting, by the system of the mobile robotic device, a collection of states and actions resulting in a highest reward;
• actuating, by the system of the mobile robotic device, the mobile robotic device to execute the selected actions;
• detecting, by the system of the mobile robotic device, whether a collision is incurred by the mobile robotic device for each action executed;
• calculating and assigning, by the system of the mobile robotic device, more than one level of rewards for each action executed based on collisions incurred by the mobile robotic device and completion of the respective action;
• and
• assigning, by the system of the of the mobile robotic device, each collision to a location within a map of the workspace wherein the location corresponds to where the respective collision occurred.

A method for preventing a mobile robotic device from becoming stuck during a work session comprising:

• selecting, by a system of the mobile robotic device, actions to navigate through a workspace, wherein each action transitions the mobile robotic device from a current state to a next state, and selecting each action comprises:
• reviewing, by the system of the mobile robotic device, all previous actions executed from the current state of the mobile robotic device;
• and
• choosing, by the system of the mobile robotic device, an action resulting in a highest reward;
• actuating, by the system of the mobile robotic device, the mobile robotic device to execute the selected actions;
• detecting, by the system of the mobile robotic device, whether a collision is incurred by the mobile robotic device for each action executed;
• calculating and assigning, by the system of the mobile robotic device, more than one level of rewards for each action executed based on collisions incurred by the mobile robotic device and completion of the action;
• and
• assigning, by the system of the of the mobile robotic device, each collision to a location within a map of the workspace wherein the location corresponds to where the respective collision occurred.