System and method for localization of robots
AssigneeFetch Robotics, Inc.
InventorsMelonee Wise, Michael Ferguson
Life of this patent
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Abstract
A method for localization of robots in a territory of interest includes: providing a mobile robot comprising a processor configured to compute an estimated pose of the mobile robot in a map of a territory of interest using a particle filter comprising a particle; updating, by the processor, a pose in the map of the particle; deciding, by the processor, whether to retain the particle for the next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter; and sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest.
Claims93
A method for localization of robots in a territory of interest, comprising:
- updating, by a processor configured to compute an estimated pose of a mobile robot in a map of a territory of interest using a particle filter comprising a particle, a pose in the map of the particle, the particle filter comprising all particles retained from a previous cycle;
- deciding, by the processor, whether to retain the particle for a next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter, wherein deciding further comprises applying a decision criterion comprising an obstacle analysis;
- and sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest, wherein the map comprises a heat map of one or more networks sensed by the robots.
A method for localization of robots in a territory of interest, comprising:
- updating, by a processor configured to compute an estimated pose of a mobile robot in a map of a territory of interest using a particle filter comprising a particle, a pose in the map of the particle, the particle filter comprising all particles retained from a previous cycle;
- deciding, by the processor, whether to retain the particle for a next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter, wherein deciding further comprises applying a decision criterion comprising an obstacle analysis;
- and sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest, wherein the map comprises a location of one or more known objects.
A method for localization of robots in a territory of interest, comprising:
- updating, by a processor configured to compute an estimated pose of a mobile robot in a map of a territory of interest using a particle filter comprising a particle, a pose in the map of the particle, the particle filter comprising all particles retained from a previous cycle;
- deciding, by the processor, whether to retain the particle for a next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter, wherein deciding further comprises applying a decision criterion comprising an obstacle analysis;
- and
- sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest, wherein the step of deciding further comprises removing particles that pass through obstacles.
A method for localization of robots in a territory of interest, comprising:
- building, by a processor configured to compute an estimated pose of a mobile robot in a territory of interest using a particle filter comprising a particle, a map of the territory of interest, the particle filter comprising all particles retained from a previous cycle;
- updating, by the processor, a pose of the particle in the map;
- associating, by the processor, the particle with the particle pose;
- deciding, by the processor, whether to retain the particle for a next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter, wherein deciding further comprises applying a decision criterion comprising data from a network sensor configured to sense one or more of presence and strength of a network;
- sampling the particle filter, by the processor;
- and
- determining, by the processor, that further associating of the particle with the particle pose is not required to maintain enough particles for the particle filter to function, so as to achieve localization of robots in a territory of interest.
A system for localization of robots in a territory of interest, comprising:
- a mobile robot comprising a processor, the mobile robot further comprising an actuator;
- and
- a sensor configured to measure the movement of the mobile robot, wherein the actuator comprises a microprocessor equipped with a program configured to execute steps in a particle-based method for robot localization, the steps comprising:
- updating, by the processor, a pose in a map of the particle, the particle filter comprising all particles retained from a previous cycle;
- deciding, by the processor, whether to retain the particle for a next cycle of a particle filter or to eliminate the particle for the next cycle of the particle filter, wherein deciding further comprises applying a decision criterion comprising data from a network sensor configured to sense one or more of presence and strength of a network;
- and
- sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest.
Dependencies are inferred from the claim text.