Patent ID: 9701020
Date: 2017-07-11
CPC Classifications: B25J,G05D,Y10S

Claim:
1. A method for minimizing redundancy of surface coverage of a workspace using a robotic device and a base station, the method comprising creating a polar map of the workspace defined by a plurality of cells; causing the base station to create a policy by dividing the workspace into a plurality of zones, the plurality of zones each defined by a portion of the plurality of cells and by ordering the plurality of zones for surface coverage by the robotic device; selecting a zone of the plurality of zones for surface coverage by the robotic device; creating a cell matrix of the portion of plurality of cells representing the selected zone; assigning the selected zone to the robotic device; covering the selected zone by the robotic device; reporting an actual zone coverage to the base station; updating a coverage matrix corresponding to the cell matrix of the selected zone to indicate surface coverage by the robotic device; and calculating a penalty based, at least in part, on a computed difference between the selected zone surface coverage and the actual zone coverage.