Area Coverage With An Autonomous Robot

Abstract

There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker ( 48 ) located along the outer edge of the area to be covered, a robot ( 40 ) with a navigation system ( 41 ) that navigated the robot ( 40 ) in generally straight, parallel lines from an initial location and turns the robot ( 40 ) when the robot ( 40 ) encounters one of the boundary markers ( 48 ), thereby to systematically move about the area to be covered. The sensor unit ( 43 ) senses proximity to one of the at least one boundary marker ( 48 ).

1 . A method for operating a robot comprising:
 moving the robot over a surface in accordance with a first scanning pattern;   detecting at least one obstacle; and,   moving the robot over the surface in accordance with a second scanning pattern while following the at least one obstacle along a path corresponding to at least a portion of the periphery of the at least one obstacle in response to the at least one obstacle being detected.   
   
   
       2 . The method of  claim 1 , wherein the first scanning pattern is the same as the second scanning pattern. 
   
   
       3 . The method of  claim 1 , wherein the first scanning pattern is different from the second scanning pattern. 
   
   
       4 . The method of  claim 2 , wherein the first scanning pattern and the second scanning pattern include the robot traveling in substantially straight parallel lines. 
   
   
       5 . The method of  claim 4 , wherein the substantially straight parallel lines are substantially free of repetition.