| CPC G05D 1/0212 (2013.01) [G05D 1/0238 (2013.01); G05D 1/0274 (2013.01)] | 17 Claims |
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1. A robot comprising:
a sensor configured to sense an environment of the robot;
a driver configured to drive movement of the robot;
at least one memory storing one or more instructions; and
at least one processor configured to execute the one or more instructions,
wherein the one or more instructions, when executed by the at least one processor, cause the robot to:
based on identifying at least one wall through the sensor, control the driver to cause the robot to perform wall following in which the robot travels along the at least one wall,
generate a map of an explored area by exploring an area in a vicinity of the robot through the sensor while the robot travels,
store information on the generated map in the at least one memory,
based on the robot completing the wall following, control the driver to cause the robot to move to an exploration point in an unexplored area in the vicinity of the robot,
based on identifying a plurality of walls through the sensor, determine priorities of the plurality of walls based on a corner direction of each wall of the plurality of walls and a distance between each wall of the plurality of walls and the robot, wherein for each wall of the plurality of walls the corner direction comprises a direction facing away from a vertex of a reflex angle formed by a corner in the wall, and
store information related to the plurality of walls in the at least one memory according to the determined priorities.
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