Patent Document ID: 9630319
Application ID: 14661633
Patent Status: 1

Claim One:
1. A method of navigating an autonomous robot within an area at least partially enclosed by walls, the method comprising: maneuvering the robot in a following mode in which the robot is controlled to travel along a plurality of path segments adjacent an obstacle, while generating data indicative of a physical layout of the area including area boundaries and obstacle perimeters detected while maneuvering the robot in the following mode, and recording data indicative of the plurality of path segments, the data being indicative of locations of the plurality of path segments relative to the physical layout of the area; maneuvering the robot in a coverage mode in which the robot is controlled to traverse the area while performing a function, while updating data indicative of a robot pose relative to the physical layout of the area based at least on robot odometry data, the robot pose comprising a calculated location and orientation of the robot within the area, and calculating a robot pose confidence level; and in response to the robot pose confidence level being below a predetermined confidence limit: selecting a trajectory of the robot to approach a suspected location of a path segment of the plurality of path segments based on the data indicative of the locations of the plurality of path segments and the data indicative of the robot pose; maneuvering the robot along the selected trajectory toward the suspected location of the path segment; and then, in response to detecting the path segment within a predetermined distance from the suspected location of the path segment, updating at least one of the data indicative of the robot pose and the data indicative of the physical layout of the area, thereby updating the calculated location and orientation of the robot within the area.