Patent ID: 8483881
Filing Date: 2013-07-09
Classification: A47L,B25J,G05B,G05D

Abstract:
1. A method of mapping an operating environment to facilitate localization of a movable robot having a rotating mount, said method comprising: acquiring optical data, from a stationary object, at a scan point on the stationary object, the scan point being associated with a partial map representing a portion of the operating environment; identifying features of the portion of the operating environment and associating identified features with said partial map; traversing the portion of the operating environment represented by said partial map; acquiring additional optical data, from the stationary object, at the scan point on the stationary object; updating said partial map responsive to said traversing and said acquiring additional data; computing a location of the robot in the operating environment by determining an average position and angle for particles selected in accordance with the optical data and the additional optical data; and selectively repeating said traversing, said acquiring additional data, and said updating so as to avoid-revisiting areas that have already been mapped; wherein said updating said partial map comprises using the average position and angle for all of the particles; and wherein said acquiring optical data and said acquiring additional optical data comprise utilizing a source of collimated light and a source of diffuse light on the rotating mount.