Patent ID: 11953910
Assignee: TRIFO, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 19:
20. A non-transitory computer readable medium having stored thereon executable instructions to find a new area to cover by a robot performing an area coverage task of an unexplored area, which instructions when executed by one or more processors perform:
detecting based upon a sensory input received from a set of sensors including at least at least one camera; a multi-axis inertial measuring unit (IMU); and at least one non-tactile sensor being monitored while performing the area coverage task, an obstacle present in the robot's path, and whenever an obstacle's presence is detected:
searching for an unknown space candidate in an occupancy grid mapping generated using sensory input from the set of sensors to update a 3D point cloud that is used to update the occupancy grid;

initiating motion to move the robot to a first waypoint of a set of waypoints in a path to the unknown space candidate that avoids the obstacle detected; and
wherein sensory input is further used to correct at least some estimated poses and locations of at least some 3D points from the 3D point cloud of features from images that define a map, the map used to provide an occupancy grid mapping that provides guidance to a mobile platform, non-tactile sensor and the multi-axis inertial measuring unit (IMU) including at least one selected from one or more accelerometers and one or more gyroscopes.