System and method for determining an energy-efficient path of an autonomous device

Patent metadata

Field	Value
Publication number	US-10037027-B2
Application number	US-201715635222-A
Country	US
Kind code	B2
Filing date	Jun 28, 2017
Priority date	Jun 30, 2016
Publication date	Jul 31, 2018
Grant date	Jul 31, 2018

Abstract

A method for determining an energy-efficient path of an autonomous device wherein said autonomous device moves over a global grid of cells into which a given operating area has been split, the method being characterized in that determination of said energy-efficient path comprises the steps of: processing of the current cell ( 201 ); taking a measurement σ of the processing ( 202 ); classifying the measurement σ to be of a particular level Σ ( 203 ), taking into account a predefined division, of the measurements results range, into a plurality of measurements levels; storing said classified measurement in a memory of the autonomous device ( 204 ) and associating it with the current cell; selecting a reference probability grid ( 205 ); updating ( 207 ) the probabilities by applying the reference grid ( 100 ) to the global grid at its current position such that every cell on the reference grid ( 100 ) corresponds unambiguously to one cell on the global grid; and moving the autonomous device to a next cell of the global grid ( 208 ) and setting said next cell as the current cell ( 201 ) in order to process the next cell.

First claim

The invention claimed is:

1. A method for determining an energy-efficient path of an autonomous device wherein said autonomous device moves over a global grid of cells into which a given operating area has been split, said determination of the energy-efficient path comprises the steps of:
processing of a current cell which represents a current position of the autonomous device;
taking a measurement σ of the processing;
classifying the measurement σ to be of a particular level, taking into account a predefined range of measurement results which is divided into a plurality of distinct levels;
storing said classified measurement in a memory of the autonomous device and associating the stored classified measurement with the current cell;
selecting a reference probability grid, wherein values in the cells of the reference probability grid express a probability that a measurement σ of the processing in a cell will be the same, respectively, to a cell at the reference probability grid, whereas a center cell in the selected reference probability grid which is associated with the current cell is assigned a maximum probability, while other cells within the reference grid have a probability assigned, which lowers with an increase of a distance of a cell from the current cell;
updating the probabilities by applying the reference grid to the global grid at the current position such that each cell on the reference grid corresponds unambiguously to one cell on the global grid; and
moving the autonomous device to a next cell of the global grid and setting said next cell as the current cell in order to process the next cell.

2. The method according to claim 1 wherein said taking of the measurement σ of the processing comprises a battery level decrease in the cell.

3. The method of claim 1 wherein the cells of the global grid have a hexagonal shape or an irregular rectangular shape.

4. The method according to claim 1 , wherein initially probabilities in all cells of the global grid are set to 0.

5. The method of claim 1 , wherein the step of updating the probabilities comprises for each measurement level Σ∈{1, 2, . . . , L} and for each processing m∈{1, 2, . . . , M} the probability p[Σ,m] is assigned a new value that is:
greater or equal to p[Σ,m] if σ∈Σ
smaller or equal to p[Σ,m] if σ∉Σ.

6. The method of claim 1 , wherein the applying the reference grid to the global grid at its current position takes into account the center cell of the reference grid.

7. The method of claim 1 , further comprising the steps of:
selecting a global grid's cell that is reachable;
computing a predicted measurement, for the selected reachable cell, the predicted measurement being dependent on the measurement values, of the same kind, stored in the global grid;
determining whether there are more reachable cells available and if there are, executing the selecting step in order to select the next reachable cell and otherwise selecting a next cell for processing.

8. The method of claim 7 , wherein the predicted measurement is computed as a weighted sum p[Σ,m] being a normalized value of p[Σ,m]:

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9. A non-transitory computer readable medium storing computer-executable instructions performing all the steps of the computer-implemented method according to claim 1 when executed on a computer.

Assignees

• Advanced Digital Broadcast Sa

Inventors

• Dabrowski Bartosz

Classifications

• G05D2201/0208

  Physics · mapped topic

• G05D1/0005 Primary

  with arrangements to save energy · CPC title

• G05D1/024

  in combination with a laser (lasers per se H01S) · CPC title

• G05D1/0219

  ensuring the processing of the whole working surface · CPC title

• G05D2201/0215

  Physics · mapped topic