Apparatus and method for controlling robot travel

Abstract

A travelling robot body carries a first detector which is turnable with the body for sensing changes in direction of travel of the robot body. In order to compensate for errors by the first detector, the robot body carries a compensation system for determining an error compensation factor that can be applied to signals emitted by the first detector. That system which performs its function prior to operation of the robot, comprises a drive mechanism for turning the first detector relative to the robot body while the body is stationary, whereby the first detector emits a first signal representative of a sensed turning angle of the first detector. A second detector is mounted on the robot body for determining the actual turning angle of the first detector which occurred. By comparing the sensed turning angle from the first detector with the actual turning angle from the second detector, an error connecting factor can be calculated by a control mechanism. During travel of the robot body, the turning angles sensed by the first detector are corrected by the control mechanism in accordance with the error correction factor.

Dependencies are inferred from the claim text.