A cleaning method of a cleaning robot, a chip, and a cleaning robot. The cleaning method of the cleaning robot includes: moving forward and along a first lateral direction to form a first cleaning path; moving backward to form a second cleaning path; moving forward and along a second lateral direction to form a third cleaning path, where the second lateral direction is opposite to the first lateral direction; and repeatedly performing the first cleaning path, the second cleaning path, and the third cleaning path in turn. The cleaning method of the cleaning robot improves the cleaning effect by repeatedly performing a three-segment series of paths.

A mobile robot of the present disclosure includes: a traveling unit configured to move a main body; a cleaning unit configured to perform a cleaning function; a sensing unit configured to sense a surrounding environment; an image acquiring unit configured to acquire an image outside the main body; and a controller configured to generate a distance map indicating distance information from an obstacle for a cleaning area based on information detected and the image through the sensing unit and the image acquiring unit, divide the cleaning area into a plurality of detailed areas according to the distance information of the distance map and control to perform cleaning independently for each of the detailed areas. Therefore, the area division is optimized for the mobile robot traveling in a straight line by dividing the area in a map showing a cleaning area.

A robotic work tool system (200) for defining a working area perimeter (105) surrounding a working area (150) in which a robotic work tool (100) is intended to operate. The robotic work tool system (200) comprises a boundary definition unit (300) comprising at least one position unit (175) for receiving position data; and at least one controller (210) for controlling operation of the boundary definition unit (300). The controller (210) being configured to receive, from the position unit (175), position data while the boundary definition unit (300) is moved around the working area (150) to define a preliminary working area perimeter (110). The controller (210) is further configured to identify, based on the received position data, a geometry of the preliminary working area perimeter (110) approximately corresponding to a predefined geometry; and to adjust the identified geometry to define an adjusted working area perimeter (105), wherein the identified geometry is adjusted to correspond to the predefined geometry.

An agricultural machine includes a vehicle body, a travel switch operable to issue a command to start autonomous travel of the vehicle body, and an autonomous travel controller to perform autonomous travel of the vehicle body based on a planned travel line when the command is issued. When the command is issued by operating the travel switch, if at least one of a positional deviation between the planned travel line that is selected and the vehicle body and an orientational deviation between the planned travel line and an orientation of the vehicle body is greater than or equal to a corresponding one of respective first thresholds, the autonomous travel controller is configured or programmed to perform line alignment to make the positional deviation and the orientational deviation less than the respective first thresholds.

A method includes identifying, using at least one processor, a first point associated with an uncertain location of an object in a space and a polynomial curve associated with an uncertain location of a feature in the space. The method also includes determining, using the at least one processor, a probabilistic proximity of the object and the feature. The probabilistic proximity is determined by identifying a second point on the polynomial curve, transforming an uncertainty associated with the polynomial curve into an uncertainty associated with the second point, and identifying the probabilistic proximity of the object and the feature using the first and second points and the uncertainty associated with the second point.

A outdoor power equipment system includes a removable rechargeable battery module, a robotic lawn mower, and a portable power equipment. The robotic lawn mower includes a receptacle configured to receive the battery module, and an electric motor electrically coupled to the receptacle to receive electricity to drive at least one of a wheel and a cutting implement. The portable power equipment includes a receptacle configured to receive the battery module, and at least one of an electric motor, a light source, and an amplification circuit coupled to the receptacle to receive electricity.

A method for path planning, an automatic gardening device, and a computer program product are provided. The method includes: receiving a preset travel direction in a work region; dividing the work region into a plurality of subregions; determining, for each of the subregions, an actual planned direction in the subregion from the preset travel direction and a recommended planned direction in the subregion, and determining a local planned path corresponding to the subregion based on the actual planned direction, wherein a path of traversing the subregion along the recommended planned direction has a shortest length; acquiring a moving sequence between the subregions; and determining a global planned path of the work region based on the local planned path of each of the subregions and the moving sequence between the subregions.

Disclosed herein are system, method, and computer program product embodiments for generating and refining simulation scenarios. For example, the method includes generating multiple base scenarios, each including one or more constant and one or more variable parameters. For each of the base scenarios, the method includes generating scenario variations, each of which is associated with a unique combination of values assigned to its base scenario’s parameters. The method further includes determining a system boundary in a parameter space defined by the variable parameters, wherein the system boundary divides the parameter space into a region including successful scenario variations and a region including unsuccessful scenario variations, and generating additional scenario variations within a threshold distance of the system boundary. The method further includes simulating operation of an autonomous vehicle (AV) using one or more generated scenario variations.

A method and apparatus for determining a turn-round path of a vehicle, a device and a storage medium are provided. An embodiment of the method includes: determining a starting position and a target position for the vehicle to turn round on a road; determining, based at least partially on road information associated with the road and vehicle information associated with the vehicle, a candidate turn-round path between the starting position and the target position; evaluating the feasibility of the candidate turn-round path; and determining, based on the evaluation on the feasibility, a turn-round path by which the vehicle is to turn round on the road.

Systems and methods for agricultural path planning are described. For example, a method includes accessing a boundary data structure that encodes a polygon on a map; generating a set of parallel line segments of a path for a vehicle on the map inside of the polygon; generating a first line segment of the path connecting an ending-point of one of the line segments of the set to a starting-point of another one of the line segments of the set; identifying a first point on the first line segment that is a maximum distance from the polygon; and splitting the first line segment into two line segments, having a starting-point matching a starting-point of the first line segment and an ending-point matching an ending-point of the first line segment, that connect at a second point on the polygon encoded by the boundary data structure that is closest to the first point.