Abstract: A tether-guided vehicle and method of controlling same. A tether sensor indicates the angle, .theta., of the tether with respect to the vehicle and the tension, T, on the tether. A contact-sensitive bumper disposed about at least the front periphery of the vehicle indicates the position, P, and force, F, of contact with an obstacle. A drive system moves the vehicle in response to tether angle, .theta., and tension, T, thereby providing a "servo pull" feature. When the vehicle contacts an obstacle, it stops, backs up, turns and resume forward motion to circumnavigate the obstacle, thereby providing an "obstacle avoidance" feature. The servo pull and obstacle avoidance features make the vehicle suitable in a number of applications, such as for canister vacuums, hospital or factory carts, and the like.

Abstract: A means and method for control of an autonomous vehicle while working on a surface, specifically for operation of an automatic floor cleaning machine using power derived from line power through a wall plug and cord. The vehicle uses information derived from contact between bumpers and objects in the environment to sense the geometry of its environment and utilizes a recursively applied algorithm to systematically and efficiently cover the floor area.

Abstract: A bumper for impact detection with an object is disclosed. An electrically conductive member has a compressible, electrically conductive material mounted thereto. An insulator formed of mesh material is sandwiched between the electrically conductive member and the electrically conductive material for electrically insulating the member and the material when the member is in a non-compressed state and to provide electrical conduction between the member and the material when the conductive material is in a compressed state.