| CPC G05D 1/0214 (2013.01) [G05D 1/0219 (2013.01); G05D 1/0229 (2013.01)] | 35 Claims |
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1. An autonomous cleaning robot comprising:
a drive system operable to move the autonomous cleaning robot about a floor surface;
a cleaning inlet on a bottom portion of the autonomous cleaning robot, wherein the autonomous cleaning robot is configured to draw debris into the autonomous cleaning robot through the cleaning inlet;
a ranging sensor directed toward a portion of the floor surface forward of the autonomous cleaning robot and configured to measure a position of an obstacle on the portion of the floor surface relative to the autonomous cleaning robot; and
a controller configured to execute instructions to perform operations, the operations comprising:
while moving the autonomous cleaning robot along a first portion of a path toward a waypoint, detecting, with the ranging sensor, the obstacle along the path between the first portion of the path and a second portion of the path,
navigating the autonomous cleaning robot about the obstacle along a trajectory that maintains at least a clearance distance between the autonomous cleaning robot and the obstacle, and
moving the autonomous cleaning robot along the second portion of the path, wherein navigating the autonomous cleaning robot about the obstacle comprises
determining a plurality of selectable alternative trajectories to avoid the obstacle,
selecting, from the plurality of selectable alternative trajectories, the trajectory based on at least distances between the plurality of selectable alternative trajectories and the waypoint, and
navigating the autonomous cleaning robot along the selected trajectory.
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