METHODS AND DEVICES FOR DYNAMIC STEERING OF ROBOTS BASED ON ON-BOARD EXPLORATORY MAPPING

摘要

Methods and devices for dynamically steering robots based on on-board exploratory mapping are disclosed. A control system of a robot includes an image manager for commanding a depth camera to take depth images of an environment. The depth camera has a field of view. The control system further includes a map generator for generating a map of the surroundings based on the depth images. The map contains a representation of unoccupied space within the environment and a path that extends through the unoccupied space from a reference location of the robot to a target location of the robot. The control system also includes a field of view evaluator for determining whether the field of view associated with the reference location meets a threshold value. The control system further includes a route generator for generating, in response to the fact that the field of view associated with the reference location meets the threshold value, a route that the robot is to follow within the environment. The route contains a first candidate location which is located along the path of the map between the reference location and the target location. The first candidate location is within the field of view assigned to the reference location.