US 11,809,191 B2
Maneuvering system for autonomous wheeled robot for optimally reaching starting point
Ivan Giovanni Di Federico, Argenta (IT); Alexey Anatolievich Generalov, Moscow (RU); and Lev Borisovich Rapoport, Moscow (RU)
Assigned to Topcon Positioning Systems, Inc., Livermore, CA (US)
Appl. No. 17/284,516
Filed by LIMITED LIABILITY COMPANY “TOPCON POSITIONING SYSTEMS”, Moscow (RU)
PCT Filed Sep. 29, 2020, PCT No. PCT/RU2020/000504
§ 371(c)(1), (2) Date Apr. 12, 2021,
PCT Pub. No. WO2022/071822, PCT Pub. Date Apr. 7, 2022.
Prior Publication US 2022/0308588 A1, Sep. 29, 2022
Int. Cl. G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0238 (2013.01); G05D 1/0257 (2013.01); G05D 1/0278 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A system for navigating to a trajectory starting point by an autonomous robot, the system comprising:
a GNSS navigation receiver including an antenna or multiple antennas, an analog front end, a plurality of channels, and a processor, all generating navigation and orientation data for the robot;
based on the navigation and the orientation data, the system calculating a position and a direction of movement for the robot towards the starting point of the trajectory, given known physical constraints for movement of the robot;
the system calculating spatial and orientation coordinates z1, z2 of the robot, which relate to the position and the direction of movement, where z1 represents lateral deviation, and z2 represents angular deviation;
the system continuing with a programmed path for the robot for any spatial and orientation coordinates z1, z2 within an attraction domain; and
for any spatial and orientation coordinates of the robot outside the attraction domain, the system continues maneuvering until the robot is inside the attraction domain.