MAP LOCALIZING WITH PARTIALLY OBSTRUCTED RANGING DEVICES FOR AUTONOMOUS ROBOTS AND VEHICLES

Number: 20170305013
Published: 2017-10-26
Filed: 2016-04-25
Assignee: DISNEY ENTERPRISES, INC.
Inventors: FREEMAN; KYLE G.
CPC: B25J9/1664; B25J9/1697; G05D1/024; G05D1/0274; G05D1/0278
Verdict: High Hardware
Source: Google Patents · FreePatentsOnline

The keeper's note

Localizes an autonomous robot or object in a mapped space by predicting expected sensor ranges even when the ranging devices are partially obstructed.

Abstract

A method for localizing robots and other objects when rangingdevices are partially obstructed. The method includes retrieving a digital map of the space and then identifying potential locations for the object in the space. The method involves generating a prediction of expected ranges between the object and surfaces in the spaceat each of the potential locations. The method includes operating a ranging device to measure ranges to the surfaces in the space and comparing, for each of the predictions, the measured ranges with the expected ranges to identify the most accurate prediction. The comparing includes weighting ranges that are too small neutrally as these are strikes on obstructions, weighting ranges that provide matches positively, and weighting ranges that are too large negatively, and the comparing then involves summing the weighted ranges to identify a most accurate one of the predictions and associated current location for the object.

Background

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional block diagram of an autonomous object in the form of a robot configured to perform/implement the localizing method of the present description while traveling through a space with obstructions;

FIG. 2 is another functional block diagram illustrating localizing with obstructed ranging devices according to the present description;

FIG. 3 is a top view of a mapped space showing use of ranging to localize an autonomous object; and

FIG. 4 is a flow diagram for a localizing method that may be performed such as during operation of the robot of FIG. 1.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Briefly, a localization method (or localizing program) is taught herein that may be implemented by a controller of an autonomous object such as an autonomous vehicle, appliance, robot, or the like to obtain localization information. In some of the examples provided, an autonomous robot uses a controller to run software or executable instructions (or code) to use this localization method to determine both a present location in a mapped space and a heading (which indicates which direction the robot is presently traveling or “facing”). The localization information is then fed within the controller to the navigational or motioncontrol module (or program) that uses this information to safely and accurately control movement of the robot through the space such as from a current position (or origin) to a secon

Claims

1. A method of localizing an object in a space, comprising: retrieving from data storage a digital map of the space; with a localizing module run by a controller, identifying a plurality of potential locations for the object in the space; with the localizing module based on the digital map, generating a prediction of expected ranges between the object and surfaces in the space for each of the potential locations; operating a ranging device to measure ranges to the surfaces in the space; and comparing, for each of the predictions, the measured ranges with the expected ranges to identify one of the predictions as an accurate prediction. 9. A localizing method, comprising: determining a plurality of potential locations of an autonomous object; from each of the potential locations, generatinga ray casting prediction defining predicted ranges from the autonomous object to surfacesin a space based on a digital map of the space; measuring ranges to the surfaces in the space; identifying the measured ranges corresponding with obstructions in the space; for each of the ray casting predictions, summing all of the measured ranges except the measured ranges identified as corresponding with the obstructions; selecting one of the ray castingpredictions as most accurate based on the summing; and determining localizing data for the autonomous object in the space using the selected one of the ray casting predictions. 15. An autonomous object configured for accurate localizing, comprising: a controller; a localizing module run by the controller, wherein the localizing module determines a pluralityof potential locations for the autonomous object in a space and wherein the localizing module generates a prediction of expected ranges between the object and surfaces in the space for each of the potential locations; and a ranging assembly collecting ranging data about the autonomous object, wherein the localizing module compares, for each of the predictions, the ranging data with the expected ranges to identify one of the predictions as an accurate prediction.