Method and System for Multi-Mode Coverage For An Autonomous Robot

Abstract

A control system for a mobile robot ( 10 ) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode ( 51 ) and a random bounce mode ( 49 ). In other embodiments, spot coverage, such as spiraling ( 45 ), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

We claim: 
     
         1 . A mobile robot comprising:
 (a) means for moving the robot over a surface;   (b) an obstacle detection sensor;   (c) and a control system operatively connected to said obstacle detection sensor and said means for moving;   (d) said control system configured to operate the robot in a plurality of operational modes said plurality of operational modes comprising:   a spot-coverage mode, said spot-coverage mode comprising substantially spiral movement,   an obstacle following mode whereby said robot travels adjacent to an obstacle, and   a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering the obstacle.   
     
     
         2 . A mobile robot comprising:
 (a) means for moving the robot over a surface;   (b) an obstacle detection sensor;   (c) and a control system operatively connected to said obstacle detection sensor and said means for moving;   (d) said control system configured to operate the robot in a plurality of modes, said plurality of modes comprising:   an obstacle following mode whereby said robot travels adjacent to an obstacle, and   a bounce mode whereby the robot travels substantially in a direction away from an obstacle after encountering the obstacle;   (e) whereby said control system is configured to alternate into said obstacle following mode after a predetermined number of sensor interactions.