초록 ▼

An autonomous mobile robot system allocates mapping, localization, planning and control functions to at least one navigator robot and allocates task performance functions to one or more functional robots. The at least one navigator robot maps the work environment, localizes itself and the functional

An autonomous mobile robot system allocates mapping, localization, planning and control functions to at least one navigator robot and allocates task performance functions to one or more functional robots. The at least one navigator robot maps the work environment, localizes itself and the functional robots within the map, plans the tasks to be performed by the at least one functional robot, and controls and tracks the at least one functional robot during task performance. The at least one navigator robot performs substantially all calculations for mapping, localization, planning and control for both itself and the functional robots. In one implementation, the at least one navigator robot remains stationary while controlling and moving the at least one functional robot in order to simplify localization calculations. In one embodiment, the at least one navigator robot is equipped with sensors and sensor processing hardware required for these tasks, while the at least one functional robot is not equipped with sensors or hardware employed for these purposes.

대표청구항 ▼

1. A method for autonomous, multi-robot operation within an environment comprising the following steps:(a) providing at least one navigator robot and at least one functional robot; (b) with the at least one navigator robot, creating a map of the environment; (c) with the at least one navigator robot

1. A method for autonomous, multi-robot operation within an environment comprising the following steps:(a) providing at least one navigator robot and at least one functional robot; (b) with the at least one navigator robot, creating a map of the environment; (c) with the at least one navigator robot, localizing the at least one navigator robot and the at least one functional robot within the map; (d) with the at least one navigator robot, planning tasks to be performed by the at least one functional robot; (e) with the at least one functional robot, performing the tasks planned by the at least one navigator robot; and (f) with the at least one navigator robot, controlling and tracking the at least one functional robot during task performance.