SYSTEMS AND METHODS FOR ROBOT MOTION CONTROL AND IMPROVED POSITIONAL ACCURACY

摘要

Direction and speed of robotic data acquisition systems engaged in acquiring data in mapped or route-planned environments, and/or environments having reference features (e.g., shelves, walls, curbs or other structure) enabling additional guidance and control, are disclosed. A mobile base can include wheels adapted to navigate an environment. At least one sensor (e.g., imaging camera, acoustic, passive infrared, etc.) can be mounted on the mobile base and acquires data (e.g., images) of items associated with or located along fixed structures defining the pathways within the environment. A computer can control mobile base movement and orientation with respect to the at least one structure utilizing range sensors and PID controllers, track mobile base location, and organize acquired data. Range sensors under the control of the at least one computer can be adapted to control mobile base movement in a straight line and at a constant speed with respect to a fixed structure.