Patent ID: 11940800
Assignee: IROBOT CORPORATION
Field: Control (Instruments)
Classification: CPC A  G | IPC G

Claim 27:
28. A method comprising:
while moving an autonomous cleaning robot along a first portion of a path toward a waypoint, detecting, with a ranging sensor of the autonomous cleaning robot, an obstacle forward of the autonomous cleaning robot along the path between the first portion of the path and a second portion of the path,
navigating the autonomous cleaning robot about the obstacle along a trajectory, and
moving the autonomous cleaning robot along the second portion of the path,
wherein navigating the autonomous cleaning robot about the obstacle comprises
determining a plurality of selectable alternative trajectories to avoid the obstacle,
selecting, from the plurality of selectable alternative trajectories, the trajectory based on at least distances between the plurality of selectable alternative trajectories and the waypoint, and
navigating the autonomous cleaning robot along the selected trajectory.