Goel Dhiraj,Eade Ethan,Fong Philip,Munich Mario E.
申请号：
US201615221036
公开号：
US9969089(B2)
申请日:
2016.07.27
申请国别(地区):
美国
年份:
2018
代理人:
Myers Bigel, P.A.
摘要：
Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
