| CPC G05D 1/0219 (2013.01) [G01C 22/00 (2013.01); G05D 1/0221 (2013.01); G05D 1/027 (2013.01); G05D 1/644 (2024.01); G06F 18/21345 (2023.01); G06F 18/21355 (2023.01); G05D 1/2469 (2024.01); G06F 18/21326 (2023.01)] | 24 Claims |
|
1. A computer-implemented method comprising:
obtaining, by data processing hardware of a robot, a topological map of an environment, wherein the topological map indicates a first route waypoint, a second route waypoint, a third route waypoint, a fourth route waypoint, a first route edge, and a second route edge collectively used by the robot to indicate a route, wherein the first route edge directly connects the first route waypoint and the second route waypoint, and wherein the second route edge directly connects the second route waypoint and the third route waypoint;
determining, by the data processing hardware, using the topological map and first sensor data captured by the robot, a third route edge, wherein the third route edge directly connects the second route waypoint and the fourth route waypoint;
determining, by the data processing hardware, using the first sensor data, that the third route edge is traversable by the robot;
updating, by the data processing hardware, using the third route edge, the topological map to obtain an updated topological map based on determining that the third route edge is traversable by the robot; and
instructing, by the data processing hardware, navigation of the robot according to the updated topological map.
|