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AssigneeAvidbots Corp
InventorsMegnath RAMESH, Francis Christopher IMESON, Stephen SMITH, Baris FIDAN
Estimating the term…
A system and method to replan coverage paths for a robot operating in an environment with initially unknown static obstacles. Existing coverage approaches reduce coverage time by covering along the minimum number of coverage lines (straight-line paths). However, recomputing such paths online can be computationally expensive resulting in robot stoppages that increase coverage time. An alternative is greedy detour replanning, i.e., replanning with minimum deviation from the initial path, which is efficient to compute but may result in unnecessary detours. In this work, an anytime coverage replanning approach named OARP-Replan is proposed that performs near-optimal replans to an interrupted coverage path within a given time budget. This is accomplished by solving linear relaxations of mixed-integer linear programs (MILPs) to identify sections of the interrupted path that can be optimally replanned within the time budget.
A system for coverage re-planning of an environment with unknown obstacles for a semi-autonomous cleaning apparatus comprising:
A computer-implemented method for a semi-autonomous cleaning apparatus comprising a processor, hardware and navigation software, the cleaning apparatus configured for coverage re-planning of an environment with unknown obstacles, the method comprising the steps of:
A computer-implemented method for a semi-autonomous cleaning apparatus comprising a processor, hardware and navigation software, the cleaning apparatus configured for coverage re-planning of an environment with unknown obstacles by solving an Optimal Axis-Parallel Rank Partitioning (OARP) approach, the method comprising the steps of:
Dependencies are inferred from the claim text.