Management of resources for SLAM in large environments

摘要

Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.

主权项

1. A method of managing resources for a robot, the method comprising:
performing simultaneous localization and mapping (SLAM) for the robot in a first area with a first map; performing SLAM for the robot in a second area associated with a second map, wherein the second map is maintained independently the first map; switching between performing SLAM with the first map or performing SLAM with the second map; performing position estimation for the robot in a third area outside of the first area and the second area; storing information about which one of the first area or the second area the robot was in prior to entry to the third area; estimating a position uncertainty of the robot while operating in the third area; remembering which one of the first area or the second area the robot was in prior to entry to the third area; and if the position uncertainty is larger than a predetermined threshold, returning to the one of the first area or the second area from which the robot was in prior to entry to the third; area, wherein a controller of the robot is configured to return the robot to the one of the first area or the second area.