Systems, apparatuses, and methods for bias determination and value calculation of parameters of a robot
AssigneeBrain Corporation
InventorsOleg Sinyavskiy, Girish Bathala
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Abstract
Systems, apparatuses, and methods for bias determination and value calculation of parameters of a robot are disclosed herein. According to at least one exemplary embodiment, a bias in a navigation parameter may be determined based on a bias in one or more measurement units, wherein a navigation parameter may be a parameter useful to a robot to recreate a route such as, for example, velocity and the bias may be accounted for to more accurately recreate the route and generate accurate maps of an environment.
Claims19
A non-transitory computer readable storage medium comprising a plurality of computer readable instructions stored thereon that, when executed by a processor, configure the processor to:
- navigate a robot through a route and collect data from sensor units coupled to the robot;
- generate at least one probability distribution function (PDF) of at least one respective navigation parameter of the robot based on the data from the sensor units, the at least one respective navigation parameter comprising at least one of a measurement of a physical feature, motion, or internal characteristic of the robot, wherein the at least one respective navigation parameter is associated with angular velocity, translational velocity, acceleration, power consumption of the robot;
- determine at least one value for the respective at least one parameter based on the respective at least one PDF;
- and
- navigate the robot along the route based on the at least one value of each of the respective at least one navigation parameter.
A non-transitory computer readable storage medium comprising a plurality of computer readable instructions stored thereon that, when executed by a processor, configure the processor to:
- navigate a robot along a route and collect data from sensor units coupled to the robot;
- generate a probability distribution function (PDF) of at least one navigation parameter of the robot based on the data from the sensor units, the at least one navigation parameter describing a physical feature, movement, or internal characteristic of the robot, wherein the at least one respective navigation parameter is associated with angular velocity, translational velocity, acceleration, power consumption of the robot;
- determine at least one value for the respective at least one navigation parameter based on the respective at least one PDF;
- and
- produce a map of an environment of the robot based on the at least one value, the map comprising the route and objects localized therein;
- and
- navigate the robot along the route based on the produced map.
A method for determining a navigation parameter of a robot, comprising:
- navigating the robot along a route while collecting data from sensor units coupled to the robot;
- calculating at least two values of the navigation parameter based on measurements from at least two respective sensor units, the at least two values being calculated based on a predetermined equation or model, wherein the navigation parameter is associated with angular velocity, translational velocity, acceleration, power consumption of the robot;
- collecting measurements of the at least two values as or after the robot navigates the route to generate a probability density function (PDF) of the navigation parameter;
- estimating a first value of the navigation parameter based on the PDF;
- and
- causing the robot to navigate the route based on the first value.
Dependencies are inferred from the claim text.