Method for producing a cellularly structured environment map of a self-propelled, mobile unit that orients itself in the environment at least with the assistance of sensors based on wave refection
US5677836A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Feb 24, 1995 |
| Grant date | Oct 14, 1997 |
| Priority date | — |
| Expiry date | Feb 24, 2015 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0257
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The method produces an improved cellularly structured environment map of a self-propelled mobile unit which orients itself using sensors based on wave reflection. In detail, the following measures are implemented. First, an error of discrete representation in the positional determination of the self-propelled mobile unit is avoided in that the position of the self-propelled mobile unit within an originating cell of the coordinate system of the environment map is also used for identifying the location of obstacles. Further, a smaller cell size is employed in the proximity of the self-propelled mobile unit in order to facilitate maneuvering between obstacles located close to one another. Further, two separate grid maps are maintained, one containing the unit with a rotational orientation and the other being rotated by a rotational angle relative to the global environment map for a fast occupation of a plurality of cells with values. Examples of such self-propelled mobile units are household robots, self-propelled vacuums and industrial transport vehicles.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.