JP2018147079A - Control method of autonomous mobile robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To be able to suppress reduction in work efficiency of a robot.SOLUTION: The control method of the autonomous mobile robot comprises: determining whether or not a second object being an obstacle to the movement exists on a traveling route for moving the first object to a corresponding first settling place (S104 ); upon determination that the second object exists on the route, planning a traveling route for moving from the position of the second object to a second settling place corresponding to the second object, planning a traveling route from a preset predetermined position to a settling place, setting a temporary placement place in a place excluding the planned traveling route to the second settling place and a route passing a predetermined number of times or more in a traveling route to be planned from the predetermined position to the settling place (S105); temporarily placing the first object at the temporary placement place (S106); and settling the second object at the second settling place, and after that, settling the first object from the temporary placement place, at the first settling place.SELECTED DRAWING: Figure 14

Description

  The present invention relates to a method for controlling an autonomous mobile robot.

  A technique for requesting the outside to remove an obstacle outside the route when an obstacle is present on the route is known (see, for example, Patent Document 1).

International Publication No. 2009/090807

  In the above technique, it is necessary to request the outside when there is an obstacle on the route. During this request, the work of the robot is interrupted, and the work efficiency of the robot may be reduced.

  The present invention has been made in order to solve such a problem, and a main object of the present invention is to provide a method for controlling an autonomous mobile robot that can suppress a decrease in work efficiency of the robot.

In order to achieve the above object, one embodiment of the present invention provides:
Storage means for storing map data in which a target object and a tidying location associated with the target object are set, path planning means for planning a movement route on the map data in the storage means, and detecting the target object A method for controlling an autonomous mobile robot, comprising: detecting means; moving according to a moving route planned by the route planning means; and moving an object detected by the detecting means to a place where the map data is cleared.
Determining whether there is a second object that obstructs the movement on a movement path that moves the first object to the corresponding first clean-up location;
Planning a movement path for moving from the position of the second object to a second tidying location corresponding to the second object when it is determined that a second object exists on the path path; ,
Planning each movement route from at least one predetermined position set on the map data to the tidying place;
On the map data, temporary locations other than the planned travel route to the second clean-up location and the route that passes a predetermined number of times when the travel route from the predetermined position to the clean-up location is planned A step to set the location,
Temporarily placing the first object in the set temporary placement location and cleaning the second object to the corresponding second cleanup location;
Clearing the second target object to a second clean-up location, and then cleaning the temporarily placed first target object to the corresponding first clean-up location;
This is a method for controlling an autonomous mobile robot.

  ADVANTAGE OF THE INVENTION According to this invention, the control method of the autonomous mobile robot which can suppress the fall of the working efficiency of a robot can be provided.

It is an external view which shows the structure of the autonomous mobile robot which concerns on Embodiment 1 of this invention. 1 is a block diagram illustrating a schematic system configuration of an autonomous mobile robot according to a first embodiment of the present invention. It is a block diagram which shows the schematic system configuration | structure of the control apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the state in which an autonomous mobile robot searches the 1st thru | or 3rd target object in the room. It is a figure which shows the state which the environmental sensor detected the 1st target object initially. It is a figure which shows the state in which the 2nd target object which becomes a movement obstruction exists on a movement path | route. (A) It is a figure which shows the movement path | route from the present position to the shelf B. FIG. (B) It is a figure which shows the grid corresponding to the movement path | route from the present position to the shelf B. FIG. (A) It is a figure which shows the movement path | route from each predetermined position to each shelf AC. (B) It is a figure which shows the grid corresponding to the movement path | route from each predetermined position to each shelf AC. It is a figure which shows the grid of a temporary placement location candidate area | region. It is a figure which shows the nearest temporary placement location of the shelf A in a temporary placement location candidate area | region. It is a figure which shows the state which has arrange | positioned the 1st target object to the temporary placement place. It is a figure which shows the state which has arrange | positioned the 2nd target object to the shelf. It is a figure which shows the state which has arrange | positioned the 3rd target object to the shelf. It is a flowchart which shows an example of the flow of the control method of an autonomous mobile robot.

  A configuration of a robot that is an example of an autonomous mobile robot according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is an external view showing a configuration of an autonomous mobile robot according to Embodiment 1 of the present invention. For example, the autonomous mobile robot according to the first embodiment autonomously performs an operation of moving a target object to be cleaned (hereinafter referred to as a target object) to a predetermined cleaning position and cleaning the target object to the cleaning position.

  FIG. 2 is a block diagram showing a schematic system configuration of the autonomous mobile robot according to the first embodiment of the present invention. The autonomous mobile robot 1 according to the present embodiment controls a robot body 2, a moving device 3 that moves the robot body 2, a gripping operation device 4 that grips and moves an object, and the moving device 3 and the gripping operation device 4. A control device 5 and an environmental sensor 6 are provided.

  The moving device 3 rotates a plurality of wheels by driving a motor or the like, for example, according to a control signal from the control device 5, and moves the robot body 2 to a desired position.

  The grip operation device 4 drives, for example, a grip portion 41 that grips an object, a plurality of links 43 that are connected via joint portions 42 such as a wrist joint, an elbow joint, and a shoulder joint, and each joint portion 42. It is configured as an articulated arm comprising a plurality of actuators such as motors.

  For example, the control device 5 controls the moving device 3 and the gripping operation device 4 based on the operation signal input via the operation terminal 7 to cause the autonomous mobile robot 1 to perform the work. The operation terminal 7 is, for example, a mobile terminal 7 such as a tablet terminal, a PC (Personal Computer), or a smartphone. The operation terminal 7 and the control device 5 are connected by wireless or wired communication, and exchange data with each other.

  The control device 5 includes, for example, a CPU (Central Processing Unit) 5a that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) or a RAM (Random Access Memory) that stores a control program executed by the CPU 5a, an arithmetic program, and the like. ), And a microcomputer including an interface unit (I / F) 5c for inputting / outputting signals to / from the outside. The CPU 5a, the memory 5b, and the interface unit 5c are connected to each other via a data bus or the like.

  The environment sensor 6 is a specific example of a detection unit. The environmental sensor 6 detects environmental information (distance information, image information, etc.) such as objects around the robot 1. The environment sensor 6 is mounted on the head of the robot 1 or the like, for example, but is not limited thereto. The environment sensor 6 may be installed in an operating environment in which the robot 1 operates. Further, a plurality of environment sensors 6 may be provided in the robot 1 and the operating environment. The environment sensor 6 is a distance sensor such as a camera (RGB-D camera, stereo camera), a laser range finder, an ultrasonic sensor, or the like.

  The environment sensor 6 detects an obstacle such as an object on the movement path when the autonomous mobile robot 1 moves along the movement path. The environmental sensor 6 outputs environmental information such as the detected obstacle to the control device 5.

  The control device 5 plans a moving route along which the autonomous mobile robot 1 moves, and controls the moving device 3 so that the autonomous mobile robot 1 moves along the moving route. Of course, the autonomous mobile robot 1 is not limited to a wheel-type mobile robot, and may be a walking type or other mobile robot. For example, the control device 5 estimates the self-location of the autonomous mobile robot 1 based on the environment information detected by the environment sensor 6, and moves the autonomous mobile robot 1 according to the planned travel route.

  By the way, when a conventional autonomous mobile robot moves an object to a set-up place and puts it away at the set-up place, another object may become an obstacle. In that case, the object cannot be cleaned up at the clean-up location, the work of the autonomous mobile robot is interrupted, and the work efficiency may be reduced.

  On the other hand, as shown in FIG. 3, the control device 5 according to the first embodiment includes a storage unit 51 that stores map data in which a target object and a tidying location associated with the target object are set, and a first A fault determination unit 52 that determines whether or not there is a second target that is an obstacle to the movement on the movement path for moving the target object to the corresponding first clean-up location, and the path by the fault determination unit 52 When it is determined that the second object is present on the route, the second object corresponding to the second object from the position of the second object (position where the autonomous mobile robot 1 grips the second object). A route planning unit 53 for planning a movement route of the autonomous mobile robot 1 to be moved to a clean-up location, and planning a travel route from at least one predetermined position set on the map data to the clean-up location, and a storage unit 51 Plan on the map data Temporary storage location except for the route to the second clean-up location and the route that will pass a predetermined number of times when the travel route from the predetermined position to the clean-up location is planned A temporary placement location setting unit 54 for setting the first target object, temporarily placing the first object in the set temporary placement location, cleaning the second target object to the corresponding second cleanup location, And a control unit 55 that controls the autonomous mobile robot 1 so that the temporarily placed first target object is cleaned up at the corresponding first cleaning-up place after cleaning up to the two cleaning-up positions.

  As a result, even when the second object exists on the route path and becomes an obstacle, the temporary place is set, the first object is temporarily placed in the set temporary place, The target object is cleaned up at the corresponding second clean-up location, the second target object is cleaned up at the second clean-up location, and then the temporarily placed first target object is cleaned up at the corresponding first clean-up location. Accordingly, since the first object is not cleaned up at the first cleaning place and the work of the autonomous mobile robot 1 is not interrupted, it is possible to suppress a decrease in work efficiency.

  The storage unit 51 is a specific example of a storage unit. The storage unit 51 is configured by, for example, the ROM or RAM. The map data is composed of, for example, a plurality of grids, and each tidying location associated with each object is set.

  For example, in the map data, the first object a is associated with the shelf A that is the first tidying place, and the second object b is associated with the shelf B that is the second tidying place. The third object c is associated with a shelf C that is a third tidying place.

  The route planning unit 53 is a specific example of route planning means. The route planning unit 53 plans the movement route of the autonomous mobile robot 1 on the map data in the storage unit 51. Based on the map data stored in the storage unit 51, the route plan unit 53 plans a travel route of the autonomous mobile robot 1 that is the shortest distance avoiding an obstacle or the like using, for example, a well-known route search algorithm.

  The control unit 55 controls the moving device 3 so that the autonomous mobile robot 1 moves according to the movement route planned by the route planning unit 53, so that the objects are placed on the shelves A to C, which are the places where the map data is cleared. Move.

  For example, as shown in FIG. 4, when the autonomous mobile robot 1 starts the object cleaning work, the control unit 55 circulates in the room or the like based on information such as an obstacle detected by the environment sensor 6. The moving device 3 of the autonomous mobile robot 1 is controlled so as to search for the first to third objects a to c.

  As shown in FIG. 5, when the environment sensor 6 first detects the first object a, the control unit 55 moves the grasping operation device 4 so as to grasp the first object a detected by the environment sensor 6. Control. The route planning unit 53 is associated with the first object a from the current position based on the information on the first object a detected by the environment sensor 6 and the map data in the storage unit 51. Plan a travel route to the first clean-up location. The control unit 55 controls the moving device 3 so that the autonomous mobile robot 1 moves according to the moving route planned by the route planning unit 53.

  In this movement process, the failure determination unit 52 moves, for example, the first object a to the corresponding shelf (first tidying place) A based on the object information detected by the environment sensor 6. It is determined whether or not the second object b (or the third object c) that obstructs the movement exists on the route. As shown in FIG. 6, since the second object b exists in front of the shelf A, the failure determination unit 52 determines the first object a based on the information on the object b detected by the environment sensor 6. It is determined that there is a second object b that is an obstacle to the movement on the movement path for moving the object to the shelf A.

  When the failure determination unit 52 determines that the second object b exists on the route route to the shelf A, the route planning unit 53 determines that the autonomous mobile robot 1 is the second one as shown in FIG. A movement path for moving from the current position where the object b is gripped to the shelf (second tidying place) B corresponding to the second object b is planned.

  Further, when the failure determination unit 52 determines that the second object b exists on the route route to the shelf A, the route plan unit 53 is set on the map data as shown in FIG. Further, the movement paths from the plurality of predetermined positions P1 to P6 to the respective shelves (cleaning places) A to C are planned. In FIG. 8A, the set predetermined positions are six points, but the present invention is not limited to this, and for example, predetermined positions of several tens to several hundred points may be set. In addition, as the number of predetermined positions to be set increases, a temporary storage place that is less likely to become an obstacle when the object is placed in a corresponding clean-up place can be set with high accuracy, but the amount of calculation at the time of route planning increases. Therefore, the number of predetermined positions at which both accuracy and calculation amount are compatible is experimentally determined and set.

  The route planning unit 53 plans a moving route from each predetermined position P1 to P6 set on the map data to each arbitrarily selected shelf AC.

  On the map data in the storage unit 51, the temporary storage location setting unit 54 moves from the current position planned by the route planning unit 53 to the shelf B, and from each predetermined position P1 to P6 to each shelf A to C. When a moving route is planned, a temporary storage location is set in a location excluding a route that passes a predetermined number of times.

  For example, in the initial state, 0 (outlined portion) is set for each grid in which the autonomous mobile robot 1 of the map data can move, and 1 for each grid in which the autonomous mobile robot 1 cannot move due to an obstacle or the like. (Hatched area) is set. As shown in FIG. 7B, the temporary placement location setting unit 54 has a grid corresponding to the moving route from the current position to the shelf B planned by the route planning unit 53 on the map data in the storage unit 51. Set the shaded area. Similarly, as shown in FIG. 8B, the temporary placement location setting unit 54 corresponds to a route that passes a predetermined number of times or more when a moving route from each predetermined position P1 to P6 to each shelf A to C is planned. Set 1 (shaded area) to the grid. Note that the predetermined number of times, for example, is obtained in advance by experimentally obtaining the number of times of passage that is likely to be a route of the autonomous mobile robot 1, and is stored in advance in the storage unit 51 or the like.

  As shown in FIG. 9, the temporary placement location setting unit 54 sets each grid for which 0 is set in the map data as temporary placement location candidate areas (shaded portions) that can be temporary placement locations.

  For example, as shown in FIG. 10, the temporary placement location setting unit 54 sets the nearest location from the current location of the first target a to the temporary location of the first target a. Set the location (shaded area). The temporary placement location setting unit 54 sets the nearest position from the current position of the arm that holds the first object a to the temporary placement location of the first object a from the set temporary placement location candidate areas. May be. Thereby, the 1st target object a can be arrange | positioned to a temporary placement place rapidly.

  The temporary placement location setting unit 54 determines the position closest to the shelf (first clean-up location) A corresponding to the first target object a from the set temporary placement location candidate areas. It may be set as a temporary storage location. Thereby, the 1st target object a can be cleared to shelf A from the temporary placement place in the shortest distance.

  As shown in FIG. 11, the control unit 55 arranges the first object “a” at the temporary placement location set in the temporary placement location setting unit 54 based on the obstacle information detected by the environmental sensor 6. Thus, the autonomous mobile robot 1 is controlled.

  The control unit 55 controls the gripping operation device 4 so as to grip the second object b detected by the environment sensor 6. Based on the information on the second object b detected by the environment sensor 6 and the map data in the storage unit 51, the route planning unit 53 starts from the current position where the second object b is grasped. The movement route to the shelf B associated with the object b is planned. The control unit 55 controls the moving device 3 so that the autonomous mobile robot 1 moves according to the moving route planned by the route planning unit 53.

  In this movement process, the obstacle determination unit 52, for example, based on the information on the object detected by the environment sensor 6, moves the second object b on the movement path to move to the corresponding shelf B. It is determined whether or not the third target object c exists. As shown in FIG. 12, since the third object c does not exist in front of the shelf B, the failure determination unit 52 moves the second object b to the shelf B based on the information detected by the environmental sensor 6. It is determined that there is no third object c that is an obstacle to the movement on the movement path to be moved. Therefore, the control unit 55 controls the grip operation device 4 so as to place the second object b on the shelf B based on the obstacle information detected by the environment sensor 6.

  The control unit 55 controls the grip operation device 4 so as to grip the third object c detected by the environment sensor 6. The route plan unit 53 plans a travel route from the current position to the shelf C associated with the third object c based on the map data in the storage unit 51. The control unit 55 controls the moving device 3 so that the autonomous mobile robot 1 moves according to the moving route planned by the route planning unit 53.

  In this movement process, the obstacle determination unit 52, for example, based on the information on the object detected by the environment sensor 6, moves the third object c to the corresponding shelf C on the movement route. It is determined whether or not a target object exists.

  Here, since the 2nd target object b is arrange | positioned on the corresponding shelf B, it does not become a target object which becomes an obstacle. On the other hand, the first object “a” is arranged at the temporary placement location. As described above, the temporary placement location is the movement path from the current position to the shelf C and each shelf A to the plurality of predetermined positions. When the travel route to C is planned, it is set at a place excluding a route with a high passing frequency. Therefore, since the possibility that a temporary placement location is set on the moving route to the shelf C is very low, the possibility that the first object a becomes an obstacle is very low.

  As shown in FIG. 13, since there is no object in front of the shelf C, the failure determination unit 52 moves the third object c to the shelf C based on the information detected by the environment sensor 6. It is determined that there is no target object that obstructs the movement. Therefore, the control unit 55 controls the moving device 3 and the grip operation device 4 so as to place the third object c on the shelf C based on the obstacle information detected by the environment sensor 6.

FIG. 14 is a flowchart illustrating an example of a flow of the above-described autonomous mobile robot control method.
When the autonomous mobile robot 1 starts a tidying operation (step S101), the autonomous mobile robot 1 searches all areas in the moving environment and determines whether all objects detected by the environment sensor 6 have been tidied up at a corresponding tidying place. (Step S102).

  If the autonomous mobile robot 1 searches all areas in the mobile environment and determines that all objects detected by the environment sensor 6 have been cleaned up at the corresponding cleaning-up location (YES in step S102), the control process is performed. finish. On the other hand, when the autonomous mobile robot 1 searches all areas in the mobile environment and determines that all objects detected by the environment sensor 6 are not cleaned up at the corresponding cleaning-up place (NO in step S102), It is determined whether or not the environmental sensor 6 has detected an object (step S103).

  When the environmental sensor 6 detects the first object (YES in step S103), the failure determination unit 52 moves the first object on the movement path for moving the first object to the corresponding first clean-up location. It is determined whether or not there is a second object that becomes an obstacle (step S104). When the environmental sensor 6 does not detect the first object (NO in step S103), the process returns to the above (step S102).

  When the failure determination unit 52 determines that there is a second object that is an obstacle to the movement on the movement route (YES in step S104), the temporary storage location setting unit 54 displays the map data in the storage unit 51. , A route that passes a predetermined number of times when planning a moving route from the current position planned by the route planning unit 53 to the second tidying location, and a moving route from each preset predetermined position to each tidying location Temporary placement locations are set in places other than, (step S105).

  Based on the obstacle information detected by the environment sensor 6, the control unit 55 arranges the first target object at the temporary placement location set in the temporary placement location setting unit 54. (Step S106), and the process returns to the above (step S102).

  When the failure determination unit 52 determines that there is no second object that is an obstacle to the movement on the movement route (NO in step S104), the failure determination unit 52 clears the first object to the corresponding first clean-up location. Return to the above (step S102).

  As described above, in the control method of the autonomous mobile robot 1 according to the present embodiment, the second object that is an obstacle to the movement exists on the movement route that moves the first object to the corresponding first tidying place. And determining that there is a second object on the route route, the second position corresponding to the second object from the current position at which the autonomous mobile robot 1 grips the second object. Plan the movement route to move to the tidying location, plan the moving route from at least one predetermined position set on the map data to the tidying location, and move to the planned second tidying location on the map data A temporary placement location is set in a place other than the route and a route that passes a predetermined number of times when a movement route from a predetermined position to a clean-up location is planned, and the first object is placed in the set temporary placement location. Temporary placement The second object is cleaned up to the corresponding second clean-up location, the second target object is cleaned up to the second clean-up location, and then the temporarily placed first target object is placed in the corresponding first clean-up location. put away.

  As a result, even when the second object exists on the route path and becomes an obstacle, the temporary place is set, the first object is temporarily placed in the set temporary place, The target object is cleaned up at the corresponding second clean-up location, the second target object is cleaned up at the second clean-up location, and then the temporarily placed first target object is cleaned up at the corresponding first clean-up location. Accordingly, since the first object is not cleaned up at the first cleaning place and the work of the autonomous mobile robot 1 is not interrupted, it is possible to suppress a decrease in work efficiency.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  In the above-described embodiment, the temporary placement location setting unit 54 determines the gripping operation device 4 based on the posture of the gripping operation device 4 that is gripping the first object a from the set temporary placement location candidate areas. However, the position where the first object a is most easily arranged may be set as a temporary placement place of the first object a. Thereby, the 1st target object a can be efficiently arranged in a temporary placement place.

  In addition, in the map data of the memory | storage part 51, the temporary storage place of the target object may be preset. The temporary placement location setting unit 54 may set the temporary placement location of the object based on the information on the temporary placement location of the map data set in the storage unit 51. Thereby, the temporary storage place intended by the user can be set.

  When the temporary placement location setting unit 54 sets a temporary placement location in the set temporary placement location candidate area, the predetermined location is weighted so as to set the temporary placement location preferentially at a predetermined location. Etc. may be set. The temporary placement location setting unit 54 sets the temporary placement location of the object in the set temporary placement location candidate area, and when another target is placed in the set temporary placement location, the temporary storage location setting unit 54 stores the temporary placement location in advance in the storage unit 51 or the like. The set position may be set as a temporary place for the object. Thereby, a temporary storage place can be set more reliably.

  In the said embodiment, after arrange | positioning a 1st target object in a temporary placement place, the control part 55 arrange | positions a 2nd target object in the corresponding 2nd tidying place, and places the nearest 3rd target object. Although the autonomous mobile robot 1 is controlled so as to be disposed at the corresponding third clean-up location and finally the first object a is disposed at the first clean-up location, the present invention is not limited to this. For example, the control unit 55 arranges the first object a in the temporary placement place, then places the second object in the corresponding second tidying place, and places the first object a in the first piece. The autonomous mobile robot 1 may be controlled so as to be arranged at a place and finally to place the third object at a corresponding third tidying place. The control unit 55 may determine which of the first and third objects is first arranged at the corresponding tidying location so that the sum of the movement paths of the autonomous mobile robot 1 is minimized. . Thereby, the autonomous mobile robot 1 can clean up the object with the shortest movement, and can further improve the work efficiency.

  The autonomous mobile robot 1 moves in the environment in advance, searches for each object, detects the position of each object, and then determines the order in which each object is cleared based on the detected position of each object. May be.

  In the present invention, for example, the processing shown in FIG. 14 can be realized by causing a CPU to execute a computer program.

  The program may be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W and semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included.

  The program may be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

DESCRIPTION OF SYMBOLS 1 Autonomous mobile robot, 2 Robot main body, 3 Moving apparatus, 4 Grasp operation apparatus, 5 Control apparatus, 7 Operation terminal, 41 Grasp part, 42 Joint part, 43 Link, 51 Memory | storage part, 52 Fault determination part, 53 Path planning part , 54 Temporary storage location setting unit, 55 Control unit

Claims (1)

Storage means for storing map data in which a target object and a tidying location associated with the target object are set, path planning means for planning a movement route on the map data in the storage means, and detecting the target object A method for controlling an autonomous mobile robot, comprising: detecting means; moving according to a moving route planned by the route planning means; and moving an object detected by the detecting means to a place where the map data is cleared.
Determining whether there is a second object that obstructs the movement on a movement path that moves the first object to the corresponding first clean-up location;
Planning a movement path for moving from the position of the second object to a second tidying location corresponding to the second object when it is determined that a second object exists on the path path; ,
Planning each movement route from at least one predetermined position set on the map data to the tidying place;
On the map data, temporary locations other than the planned travel route to the second clean-up location and the route that passes a predetermined number of times when the travel route from the predetermined position to the clean-up location is planned A step to set the location,
Temporarily placing the first object in the set temporary placement location and cleaning the second object to the corresponding second cleanup location;
Clearing the second target object to a second clean-up location, and then cleaning the temporarily placed first target object to the corresponding first clean-up location;
A method for controlling an autonomous mobile robot.

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