System and method for autonomous mobile robot relocalization
OwnerMohammad Haghighipanah, Rita Chattopadhyayinventors
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Abstract
Various aspects of methods, systems, and use cases include techniques for robotic relocalization. A robot may be configured to perform relocalization using operations to determine a cause of a loss of pose; use a nearest neighbor process to select a set of milestones from a roadmap when the cause of the loss of pose is due to a malfunction, or use a ranking process to select the set of milestones from the roadmap when the cause of the loss of pose is not due to the malfunction, the roadmap including a plurality of milestones; generate particle clouds around each milestone in the set of milestones; and perform localization on each milestone in the set of milestones to attempt to relocalize the robot.
Claims19
A system for robotic navigation for a robot, the system comprising:
- processing circuitry;
- and
- memory, including instructions for performing relocalization, which when executed by the processing circuitry, cause the processing circuitry to perform operations to:
- determine a cause of a loss of pose;
- use, depending on the cause of the loss of pose, either a) a nearest neighbor process to select a set of milestones from a roadmap when the cause of the loss of pose is due to a malfunction, or b) a ranking process to select the set of milestones from the roadmap when the cause of the loss of pose is not due to the malfunction, the roadmap including a plurality of milestones;
- generate particle clouds around each milestone in the set of milestones;
- perform localization on each milestone in the set of milestones to attempt to relocalize the robot;
- and
- navigate the robot using the relocalization.
At least one non-transitory machine-readable medium including instructions for robotics relocalization, which when executed by processing circuitry, causes the processing circuitry to perform operations to:
- determine a cause of a loss of pose of a robot;
- use, depending on the cause of the loss of pose, either a) a nearest neighbor process to select a set of milestones from a roadmap when the cause of the loss of pose is due to a malfunction, or b) a ranking process to select the set of milestones from the roadmap when the cause of the loss of pose is not due to the malfunction, the roadmap including a plurality of milestones;
- generate particle clouds around each milestone in the set of milestones;
- perform localization on each milestone in the set of milestones to attempt to relocalize the robot;
- and
- navigate the robot using the relocalization.
Dependencies are inferred from the claim text.