Autonomous navigation in unknown spaces
AssigneeCarmel-Haifa University Economic Corp. Ltd.
InventorsYosi BEN ASHER, Danial JERYES
Life of this patent
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Abstract
An autonomous device, and a method of controlling thereof may include one or more motors, one or more proximity sensors, and at least one controller associated with said motors and proximity sensors. The at least one controller may be configured to continuously: receive, from the one or more proximity sensors, indications of obstacle proximity; based on the indications of obstacle proximity, maintain a current state of a state-machine comprising a plurality of states, wherein each state defines a general direction for conducting the device; and control said one or more motors to conduct the device in a zigzag motion, skewed by a precalculated skew angle α in relation to the general direction, as defined by the current state.
Claims22
An autonomous device, comprising one or more motors, one or more proximity sensors, and at least one controller associated with said motors and proximity sensors, wherein the at least one controller is configured to continuously:
- receive, from the one or more proximity sensors, indications of obstacle proximity;
- based on the indications of obstacle proximity, maintain a current state of a state-machine comprising a plurality of states, wherein each state defines a general direction for conducting the device;
- and
- control said one or more motors to conduct the device in a zigzag motion, skewed by a precalculated skew angle α in relation to the general direction, as defined by the current state.
A method of controlling an autonomous device by at least one processor mounted on said device, the method comprising:
- continuously receiving, from one or more proximity sensors mounted on said device, indications of obstacle proximity;
- based on the indications of obstacle proximity, maintaining a current state of a state-machine comprising a plurality of states, wherein each state defines a general direction for conducting the device;
- and
- controlling one or more motors mounted on said device, to conduct the device in a zigzag motion, skewed by a precalculated skew angle α in relation to the general direction, as defined by the current state.
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Dependencies are inferred from the claim text.