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US 2015/0306772 A1Published application
Method and System for Multi-Mode Coverage For An Autonomous Robot
AssigneeiRobot Corporation
InventorsJoseph L. Jones, Philip R. Mass
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Abstract
A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.
Claims15
(canceled)
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.
6 more elements
Dependencies are inferred from the claim text.