Patent ID: 6205380
Filing Date: 2001-03-20
Classification: G05D

Abstract:
A method for producing a cellularly structured environment map of a self-propelled mobile unit which orients itself in an environment using sensors based on wave reflection, comprising the steps of:determining a distance of the sensor from an environmental object a position of the object as undefined location on a circular arc segment of a circle by at least one sensor with the sensor as center of the circle and the distance as radius, the circular arc segment being limited by a measuring area of the sensor;determining an alignment of the sensor with respect to the cellularly structured environment map as a measuring beam;dividing a cell of the environment map into at least two sensor alignment areas as sectors and determining an occupancy degree of the cell as a function of the alignment of the sensor; anddetermining an overall occupancy degree of the cell from the occupancy degrees of the sectors of the cell.