Position determining apparatus and control method of robot

Details Position determining apparatus and control method of robot Position determining apparatus and control method of robot

1996-07-22

1998-09-08

Sircus, Brian

Electricity: motive power systems

Positional servo systems

Vehicular guidance systems with single axis control

318587, 364460, 701 26, B64C 1318

Patent

active

058049428

ABSTRACT:
A self-propelled steerable robot emits ultrasonic waves in forward, rightward and leftward directions. On the basis of detecting those waves after being reflected from the walls, a controller on the robot determines an angle of travel of the robot relative to a wall of a room, enabling the robot to be turned and oriented parallel to opposite walls of the room. By then emitting waves toward those opposite walls and detecting the waves reflected therefrom, respective distances of the robot to those opposite walls can be determined. By turning the robot toward the longer of the two distances, and repeating the above steps, the robot can eventually become disposed at a center of the room. Then the robot advances from the center until reaching one of four known points in the room where the respective distances between both opposite walls changes. This enables the controller to determine where in the room the robot is located. The robot then travels along a predetermined path from that point.

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