Patent ID: 6076025
Filing Date: 2000-06-13
Classification: G05D

Abstract:
A mobile robot steering method in which a mobile robot, equipped with sensors on both sides of said robot for detecting a boundary of an given area to be covered, is controlled to run throughout said area, said method comprising the steps of:conducting a spiral running motion which starts from any desired location in said area, wherein said spiral running motion has a radius which is gradually increased by a predetermined quantity;when a distance between said robot and said boundary of said area, detected by said sensors, is smaller than a predetermined distance, discontinuing said spiral running motion, conducting a turning motion from a forward direction through a predetermined angle to part from said boundary of said area, and then conducting a forward running motion;thereafter repeating, a similar turning and a similar forward running motion whenever detecting said boundary of said area; andresuming said spiral running motion at a first location spaced by a predetermined distance of a last forward running from a second location where a last turning motion conducted, when said turning motion has been repeated a predetermined number of times.