초록 ▼

A robot is provided to run so that a trace of the robot efficiently covers a given area according to the detection of a boundary of the area. A spiral pattern running, wherein a radius of the spiral is gradually increased, is started at a desired location in the area and is paused upon the detection

A robot is provided to run so that a trace of the robot efficiently covers a given area according to the detection of a boundary of the area. A spiral pattern running, wherein a radius of the spiral is gradually increased, is started at a desired location in the area and is paused upon the detection of a boundary wall by sensors. Then, a random pattern running, which includes turning to depart from the wall and running forward, is conducted. After the turning has been repeated a predetermined number of times through simulations, the spiral pattern running is resumed at a location spaced from the last turning spot by a predetermined distance or a predetermined length of running time.

대표청구항 ▼

[ What is claimed is:] [1.] A mobile robot steering method in which a mobile robot, equipped with sensors on both sides of said robot for detecting a boundary of an given area to be covered, is controlled to run throughout said area, said method comprising the steps of:conducting a spiral running mo

[ What is claimed is:] [1.] A mobile robot steering method in which a mobile robot, equipped with sensors on both sides of said robot for detecting a boundary of an given area to be covered, is controlled to run throughout said area, said method comprising the steps of:conducting a spiral running motion which starts from any desired location in said area, wherein said spiral running motion has a radius which is gradually increased by a predetermined quantity;when a distance between said robot and said boundary of said area, detected by said sensors, is smaller than a predetermined distance, discontinuing said spiral running motion, conducting a turning motion from a forward direction through a predetermined angle to part from said boundary of said area, and then conducting a forward running motion;thereafter repeating, a similar turning and a similar forward running motion whenever detecting said boundary of said area; andresuming said spiral running motion at a first location spaced by a predetermined distance of a last forward running from a second location where a last turning motion conducted, when said turning motion has been repeated a predetermined number of times.