Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot
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United States of America Patent
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Jun 25, 2019
Grant Date -
Jul 13, 2017
app pub date -
Jun 5, 2015
filing date -
Jun 5, 2014
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Abstract
A method to compute a pixel map of probabilities of absence and presence of an obstacle in the environment of an autonomous robot comprising at least one sensor grouped in at least one set of sensors that detect obstacles of similar types and have its own sensor initial map of probability of absence of obstacles is provided. The method comprises the steps of initializing a map around the robot and attached to the robot with a predefined value of probability of absence or presence of an obstacle, acquiring data representative of the absence or presence of an obstacle around the robot from at least one sensing procedure, and concurrently updating values of probabilities using data from sensing procedure and modifying the probabilities of absence or presence of obstacle from previous observations to a value closer to a predefined value.
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