| CPC G05D 1/0274 (2013.01) [G01C 21/3446 (2013.01); G01C 21/3804 (2020.08); G05D 1/0217 (2013.01)] | 10 Claims |
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1. A method for traversing a prescribed arrangement of paths with a mobile robot, wherein the paths are connected to one another at nodes, the method comprising:
switching the robot from an initial route that contains all remaining untraveled paths of the initial route to a different replacement route and a subsequent remaining route in response to a value of a quality function for the replacement route being less than a value of a quality function for the initial route;
wherein the replacement route includes a loop route;
wherein the loop route comprises at least one path that is re-taken after the mobile robot already traversed that path, and at least one further path;
wherein the subsequent remaining route comprises all remaining untraveled paths of the initial route at the time the mobile robot is switched from the initial route;
wherein the quality function depends on a first effort value, a second effort value, and a variable weighting of the first and second effort values in relation to one another;
wherein the first effort value is the lower of:
a minimum effort value for a loop route that retakes at least one path after taking that path and at least one further path, and
a minimum effort value for a target route that contains all remaining untraveled paths of the initial route; and the second effort value is a minimum effort value for a remaining route that contains all remaining untraveled paths of the initial route after the loop route;
and
wherein the variable weighting weights the second effort value lower for a first localization uncertainty of the robot than for a smaller second localization uncertainty of the robot.
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