Autonomous mobile robot

An autonomous mobile robot, comprising:

• a storage unit configured to store data obtained while the autonomous mobile robot is being driven;
• at least one sensing unit configured to measure data including a distance value and state information of the autonomous mobile robot while the autonomous mobile robot is being driven;
• and
• a processor configured to control the autonomous mobile robot,
• wherein the processor is configured to:
• control the autonomous mobile robot to be driven according to a first mode in response to determining that an obstacle is recognized while the autonomous mobile robot is being driven;
• control the autonomous mobile robot to switch from the first mode to a second mode and exit the local minimum by moving along a wall in response to determining that the autonomous mobile robot operating in the first mode is disposed at a local minimum, and
• wherein a switching between the first mode and the second mode is controlled by a learning-based switching method based on a pattern learned by using a vision transformer (ViT)-based neural network learned through expert demonstration data and data measured from the at least one sensing unit.

An autonomous mobile robot, comprising:

• a storage unit configured to store data obtained while the autonomous mobile robot is being driven;
• at least one sensing unit configured to measure data including a distance value while the autonomous mobile robot is being driven;
• and
• a processor configured to control the autonomous mobile robot,
• wherein the processor is configured to:
• control the autonomous mobile robot to be driven according to a first mode in response to determining that an obstacle is recognized while the autonomous mobile robot is being driven;
• control the autonomous mobile robot to switch to a second mode and exit the local minimum by moving along a wall in response to determining that the autonomous mobile robot operating in the first mode is disposed adjacent to a local minimum,
• wherein a switching between the first mode and the second mode is controlled by combining a rule-based switching method configured to determine whether a magnitude of the total force of the autonomous mobile robot is smaller than or equal to a threshold value based on data measured by the at least one sensing unit and a learning-based switching method utilizing a pattern learned from a vision transformer (ViT)-based neural network model learned based on expert demonstration data, and
• wherein the learning-based switching method is controlled to perform by replacing a value determined by the rule-based switching method in response to determining that another autonomous mobile robot is disposed around the autonomous mobile robot.