Navigation system for a mobile robot
US5363305A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Feb 28, 1992 |
| Grant date | Nov 8, 1994 |
| Priority date | — |
| Expiry date | Feb 28, 2012 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0255
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A navigation system for a mobile autonomous robot that includes apparatus for creating and maintaining a map of an environment the mobile autonomous robot is to traverse including provision for storing in a map at an assigned location features representative of geometric beacons located in the environment. Because of the uncertainty in its sensor's operating conditions and changes in the environment, a credibility measure is associated with each map feature stored. This credibility measure is increased or decreased whenever the map feature assigned to a location matches or does not match, respectively, a geometric beacon corresponding to such location. Whenever a geometric beacon is observed for a location that does into match a previously stored map features, an appropriate map feature is added for such location.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.