Method for predicting tracking cameras for free-roaming mobile robots

摘要

In a manufacturing environment, a controllable mobile apparatus such as a mobile robot is guided through the manufacturing environment by a navigation system that utilizes fixed overhead cameras having a predefined viewing area. As the robot leaves a first viewing area there is an uncertainty as to which viewing area the robot will go into so that that camera may be monitored. The uncertainty is minimized by using a plurality of rings of uncertainty which overlap the surrounding areas. The uncertainty is continuously eliminating by drawing the circle of uncertainty into smaller and smaller area.