Y. Watanabe

Bio: Y. Watanabe is an academic researcher from University of Tsukuba. The author has contributed to research in topics: Dead reckoning & Mobile robot. The author has an hindex of 1, co-authored 1 publications receiving 83 citations.

Position estimation of mobile robots with internal and external sensors using uncertainty evolution technique

Abstract: A wheeled mobile robot on a flat plane can estimate its current location and orientation from the cumulative wheel rotation (dead reckoning). The method, however, has the drawback that estimation errors are accumulated as the robot moves, and the accuracy of estimation decreases. To address this problem, a positioning technique using an external sensor is needed. The authors propose a more general positioning method whereby the robot can act autonomously and move along a path unlimited by positioning. The robot can modify the position estimated by dead reckoning by repeating low-level sensing asynchronously and intermittently. This method uses not only the estimated position data but also the accuracy of the dead reckoning and the external sensor effectively. >

Mobile robot localization using landmarks

Abstract: We describe an efficient method for localizing a mobile robot in an environment with landmarks. We assume that the robot can identify these landmarks and measure their bearings relative to each other. Given such noisy input, the algorithm estimates the robot's position and orientation with respect to the map of the environment. The algorithm makes efficient use of our representation of the landmarks by complex numbers. The algorithm runs in time linear in the number of landmarks. We present results of simulations and propose how to use our method for robot navigation.

Method and system for multi-mode coverage for an autonomous robot

Abstract: A control system for a mobile robot ( 10 ) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode ( 51 ) and a random bounce mode ( 49 ). In other embodiments, spot coverage, such as spiraling ( 45 ), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

Autonomous floor-cleaning robot

Abstract: An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem.

Autonomous surface cleaning robot for wet and dry cleaning

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Navigational control system for a robotic device

Abstract: An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.