Methods and systems for complete coverage of a surface by an autonomous robot
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United States of America Patent
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Feb 20, 2018
Issued Date -
N/A
app pub date -
Oct 12, 2015
filing date -
Nov 6, 2009
priority date (Note) -
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Abstract
A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
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