US 11,937,539 B2
Sensor fusion for localization and path planning
Mandar N. Kulkarni, Richardson, TX (US); Yuming Zhu, Plano, TX (US); Neha Dawar, Plano, TX (US); Songwei Li, Lewisville, TX (US); Boon L. Ng, Plano, TX (US); and Jianzhong Zhang, Plano, TX (US)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Aug. 26, 2020, as Appl. No. 17/003,834.
Claims priority of provisional application 62/966,769, filed on Jan. 28, 2020.
Claims priority of provisional application 62/941,126, filed on Nov. 27, 2019.
Claims priority of provisional application 62/938,509, filed on Nov. 21, 2019.
Claims priority of provisional application 62/892,762, filed on Aug. 28, 2019.
Prior Publication US 2021/0064043 A1, Mar. 4, 2021
Int. Cl. A01D 34/00 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G06F 18/22 (2023.01); G06V 10/80 (2022.01); G06V 20/58 (2022.01); H04W 84/18 (2009.01); A01D 101/00 (2006.01)
CPC A01D 34/008 (2013.01) [G05D 1/0214 (2013.01); G05D 1/0227 (2013.01); G05D 1/0274 (2013.01); G06F 18/22 (2023.01); G06V 10/803 (2022.01); G06V 20/58 (2022.01); H04W 84/18 (2013.01); A01D 2101/00 (2013.01); G05D 2201/0208 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An electronic device comprising:
a first set of sensors configured to generate motion information;
a second set of sensors configured to receive information from multiple anchors positioned at fixed locations throughout an area; and
a processor operably connected to the first set of sensors and the second set of sensors, the processor configured to:
generate a path to drive the electronic device within the area, the path configured to substantially cover the area, the path having a start location and an end location,
receive the motion information from the first set of sensors,
determine whether a wheel of the electronic device is slipping based on the motion information,
generate ranging information based on the information that is received, via the second set of sensors, from the multiple anchors,
while the electronic device is driven along the path, identify a location and heading direction within the area of the electronic device based on a subset of the motion information, wherein the subset of the motion information comprises a first subset of the motion information in response to a determination that the wheel of the electronic device is slipping or a second subset of the motion information in response to a determination that the wheel of the electronic device is not slipping,
modify the identified location and heading direction of the electronic device based on the ranging information,
control the electronic device to drive within the area from the start location to the end location according to the path, based on the modified location and heading direction of the electronic device,
upon the electronic device reaching the end location, identify one or more missed portions of the area that were not traversed, and
generate a new path for the electronic device to traverse the one or more missed portions of the area that were not traversed.