CPC G01S 7/497 (2013.01) [G01S 17/08 (2013.01)] | 18 Claims |
1. A robot, comprising:
a chassis;
a set of wheels coupled to the chassis;
at least one motor for driving the set of wheels;
at least one motor controller;
a range finding system coupled to the robot;
a plurality of sensors;
a processor; and
a tangible, non-transitory, machine-readable medium storing instructions that when executed by the processor effectuates operations comprising:
obtaining, with the processor, distances to obstacles measured by the range finding system as the robot moves relative to the obstacles;
monitoring, with the processor, the distance measurements;
identifying, with the processor, outlier distance measurements in otherwise steadily fitting distance measurements;
determining, with the processor, a depth of an obstacle based on the distance measurements; and
determining, with the processor, a position of the obstacle based on the distance measurements, comprising:
identifying, with the processor, positions of the range finding system when encountering the obstacle; and
determining, with the processor, the position of the obstacle based on the positions of the range finding system when encountering the obstacle.
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