Patent ID: 9146558
Filing Date: 2015-09-29
Classification: G05D

Abstract:
1. A method of operating a mobile robot, the method comprising: driving the robot according to a drive direction; receiving robot position and movement data comprising: when the robot is at rest, determining a gyro bias based on the gyro data; determining a three-dimensional gravity vector of the robot based on the gyro data; determining an ego-motion estimate of the robot by: when the satellite communications used to obtain the global positioning coordinates of the robot are available, determining a robot global position by combining the ego-motion estimate and the global positioning coordinates of the robot; when the satellite communications used to obtain the global positioning coordinates of the robot are unavailable: determining a driven path of the robot from an origin based on the robot global position; displaying a drive view on a remote operator control unit in communication with the robot, the drive view having the driven path of the robot from the origin; and displaying a map in the drive view using the global positioning coordinates, the driven path of the robot displayed on the map.