Abstract: A robotic golf caddy apparatus (21) movably supported on a steering assembly (28) and including a communications assembly (41) for communicating with a GPS system (61) and a central control station in order to guide and steer the apparatus around designated accessible areas of a golf course. The apparatus (21) also includes a dead reckoning system with distance determination device (83) and compass (85) for determining the distance the caddy travels should the communications assembly (41) lose communications with a predetermined minimum number of satellites in the GPS system (61). Also, a sensor (72a) is provided for detecting a guide tape or line (126,130), provided in preselected areas of the golf course. The caddy apparatus (21) is steered along the guide tape (126,130), rather than by the GPS system (61), in certain areas of the course where the GPS system (61) may be inadequate for maximum safe operation of the caddy apparatus.

Abstract: An autonomous personal service robotic apparatus, such as a robotic golf caddy, including a drive assembly for movement of the robotic caddy, a digital computer having memory devices in which are stored a digital map and navigation rules, and having a operations program for the control of performance of personal services, including movement and navigation of the caddy in the environment, and a position determination assembly for determining the position of the robotic device in the environment. The position determination assembly also dynamically determines the position of unmapped elements in the environment and super imposes or overlays them with the mapped elements and position of the robotic apparatus. Position preferably is determined by differential GPS techniques. The navigational rules for the robotic device control its movement in the environment in response to its sensed position in the mapped environment, the sensed unmapped elements and preferably the sensed relative position of the user.