Boots – shoes – and leggings
Patent
1995-03-10
1997-11-04
Teska, Kevin J.
Boots, shoes, and leggings
364424033, G05D 100
Patent
active
056846959
ABSTRACT:
An improved method and apparatus for constructing a cellularly structured environment map of a self-propelled, mobile unit is provided. Examples of such self-propelled, mobile units are household robots, self-propelled vacuum cleaners and industrial transport vehicles. To this end, a higher increment for the occupancy degree of a currently evaluated cell is selected for near objects. Further, the occupancy degree is also incremented dependent on a velocity. As an additional measure given standstill of the unit, all cells of the environment map that are located within the aperture cone of a wavefront that emanates from the sensor of the mobile unit are modified in terms of their occupancy degree values. Additionally, a blind zone in which grid cells of the environment map experience no modification of the occupancy degree is defined around the mobile unit.
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Siemens Aktiengesellschaft
Teska Kevin J.
Walder, Jr. Stephen J.
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