Patent Document ID: 20160195875
Application ID: 14431074
Patent Status: 0

Claim One:
1. An autonomous mobile robot, comprising: a drive system; at least one perceptor for detecting obstructive objects; a controller that is operably connected to both the drive system and the perceptor, said controller being configured to control the drive system in order to move the robot across a floor area in accordance with a floor covering strategy that includes: based on a topological map of the floor area, designating a location of a current cell, wherein the term ‘current cell’ refers to a functional unit of floor area being covered by the robot, and wherein said current cell is spatially bounded by a primary boundary; from an entry point at the primary boundary of said current cell, executing an initial double stroke into the current cell, wherein a ‘double stroke’ is understood to include both a forward stroke, i.e. a forward movement, and a backward stroke i.e. a backward movement, of the robot; designating a forking point disposed within said current cell, and from said forking point executing a number of additional, angularly-distributed double strokes within the current cell; during execution of the double strokes mapping obstructive objects within the current cell onto an obstacle map by means of said at least one perceptor; from said obstacle map determining a secondary boundary associated with the current cell, wherein said secondary boundary encloses at least part of an area of the current cell covered by the executed double strokes, and distinguishes between secondary boundary portions thereof at which an obstructive object is located, and secondary boundary portions thereof at which no obstructive object is located; and adding the determined secondary boundary of the current cell to the topological map of the floor area.