Localization and mapping using physical features

摘要

A method includes maneuvering a robot in (i) a following mode in which the robot is controlled to travel along a path segment adjacent an obstacle, while recording data indicative of the path segment, and (ii) in a coverage mode in which the robot is controlled to traverse an area. The method includes generating data indicative of a layout of the area, updating data indicative of a calculated robot pose based at least on odometry, and calculating a pose confidence level. The method includes, in response to the confidence level being below a confidence limit, maneuvering the robot to a suspected location of the path segment, based on the calculated robot pose and the data indicative of the layout and, in response to detecting the path segment within a distance from the suspected location, updating the data indicative of the calculated pose and/or the layout.

主权项

1. A method of navigating an autonomous robot within an area at least partially enclosed by walls, the method comprising:
maneuvering the robot in a following mode in which the robot is controlled to travel along a plurality of path segments adjacent an obstacle, while
generating data indicative of a physical layout of the area including area boundaries and obstacle perimeters detected while maneuvering the robot in the following mode, andrecording data indicative of the plurality of path segments, the data being indicative of locations of the plurality of path segments relative to the physical layout of the area; maneuvering the robot in a coverage mode in which the robot is controlled to traverse the area while performing a function, while
updating data indicative of a robot pose relative to the physical layout of the area based at least on robot odometry data, the robot pose comprising a calculated location and orientation of the robot within the area, andcalculating a robot pose confidence level; and in response to the robot pose confidence level being below a predetermined confidence limit:
selecting a trajectory of the robot to approach a suspected location of a path segment of the plurality of path segments based on the data indicative of the locations of the plurality of path segments and the data indicative of the robot pose;maneuvering the robot along the selected trajectory toward the suspected location of the path segment; and then,in response to detecting the path segment within a predetermined distance from the suspected location of the path segment, updating at least one of the data indicative of the robot pose and the data indicative of the physical layout of the area, thereby updating the calculated location and orientation of the robot within the area.