Abstract: A robot with an edge detector and two operating modes. The first operating mode is a remote control mode. The second operating mode is a processor controlled mode.

Abstract: A robotic device having a body with an upper surface resiliently connected to a lower surface and having a bump sensor including a contact point on the lower surface, which contact pint is in its normal position when centrally located within a sensor device, which is an aperture having a conducting inner periphery, which sensor device is located in the upper surface of the robotic device, so that a bump on the upper surface is detected by the robotic device when the contact point abuts the aperture conducting inner periphery.

Abstract: A mine transportation management system capable of reducing cost by reducing the number of transportation vehicles is provided. For this purpose, the system includes a plurality of self-propelled vehicles and a plurality of vessels each having a communication section, and each being identifiable, which are connectable to and separable from each other. A loading machine having a communication section, which loads an object into at least one of the vessels. A management center, which has a communication section, selects a vessel to be transported and selects a self-propelled vehicle for transporting the selected vessel based on a transportation demand signal from a processing facility, and transmits a transportation command signal to the selected self-propelled vehicle to connect to the selected vessel and to travel to the processing facility.

Abstract: A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.

Abstract: The present invention discloses a system and method for confining a robot to a particular space. The system includes a portable barrier signal transmitter that produces a barrier signal primarily along an axis, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal. In the preferred embodiment the barrier signal is emitted in an infrared frequency and the robot includes an omni-directional signal detector. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected.

Abstract: A method for automatic, decentralized coordination of the movement paths of mobile robots in order to prevent collisions and to detect and resolve mutual blockings. According to the method, a robot receives position information from other robots and establishes a coordinating connection with another robot if the position falls below a minimum allowable distance. One of the robots is then chosen as coordinator and the other robot is chosen as partner. The coordinator initiates an algorithm for the prevention of collisions, wherein a time sequence diagram is determined for the motion path segments of the coordinator and the partner. A robot for detecting robots that are mutually blocking one another in a circuit initiates an algorithm for detecting blocking if the robot has not been given authorization to execute its next motion path segment. An algorithm for resolving the blocking is initiated if robots mutually blocking each other in a circuit are detected by the detecting robot.

Abstract: A self-propelled robot is disclosed for movement over a surface to be treated. The robot has a power supply and a pair of wheels driven by motors for moving the robot over the surface. A mechanism is provided for controllably depositing a fluent material on to the surface. Navigation sensors provide signals for enabling the robot to navigate over the surface and one or more detectors detect the presence of the material on the surface and provide signals indicative of its presence. A control system receives the signals from the sensors and detectors and controls the motors and the depositing mechanism in dependence upon the signals received from the sensors and detectors.

Abstract: The advantage of flexible multi-axis robot systems and robot cell-unit systems being further extended by providing electric and electronic E-POOL networks, consisting of multiblock individual computer units, central computers, board computers, satellite units, antenna units, open and contact protected under floor and upper floor current and communication supply lines.

Abstract: A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.

Abstract: A robot apparatus which may be turned to a sound source direction by a spontaneous whole-body concerted operation. With the possible range of rotation of the neck unit of a robot apparatus 1 of ±Y° and with the relative angle of the direction of a sound source S to the front side of the robot apparatus 1 of X°, the entire body trunk unit of the robot apparatus 1 is rotated through (X?Y)°, using the leg units, while the neck joint yaw axis of the robot apparatus is rotated through Y° to the direction of the sound source S, so that the robot apparatus is turned to the direction of the sound source S.

Abstract: There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) and a sensor unit (43). The navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the area to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

Abstract: A robot cleaner, a robot cleaning system and a method for controlling the same capable of efficiently performing work on command by recognizing the driving distance and direction of the robot cleaner regardless of a of wheel slippage or irregularity in the floor. The robot cleaner performs a working operation while moving about a floor, and comprises a main body, a driving unit for driving a plurality of wheels disposed on a bottom portion of the main body, a downward-looking camera disposed among the wheels on the bottom portion of the main body for photographing images of the floor perpendicular to the driving direction of the robot cleaner, and a control unit for recognizing driving distance and direction of the wheels using image information of the floor photographed by the downward-looking camera, and for controlling the driving unit corresponding to a target work by using the recognized distance and direction of the wheels.

Abstract: A system for adjusting the position of a load supported on a conveyor cart includes a driven lift mechanism for controlling height and a turntable for controlling rotational orientation. The cart may, alternately or in addition to the above mechanisms, include a gimbal mechanism for rotational adjustment about multiple axes. A processor on the cart provides actuation and control of the mechanisms. An ID card reader on the cart senses ID tags for determining when the cart is adjacent particular locations. Data representing desired load position at the locations is stored either in a memory device or by the ID tag for relay to the processor on the cart via the ID tag reader. A system level controller provides a centralized storage location for desired load position data for communication to a plurality of conveyor carts through a communication link that includes radio frequency modems.

Abstract: A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed.

Abstract: A robot cleaner, a system thereof, and a method for controlling the same. The robot cleaner system includes a robot cleaner that performs a cleaning operation while communicating wirelessly with an external device. The robot cleaner has a plurality of proximity switches arranged in a row on a lower portion of the cleaner body. A guiding plate is disposed in the floor of the work area, the guiding plate having metal lines formed in a predetermined pattern, the metal lines being detectible by the proximity switches. Since the recognition of the location and the determination of traveling trajectory of the cleaner within a work area becomes easier, performance of the robot cleaner is enhanced, while a burden of having to process algorithms is lessened.

Abstract: An autonomous multi-platform robot system (100, 1100) for performing at least one functional task in an environment is provided. The system includes at least one navigator platform (110, 1110) providing mapping, localization, planning, and control functions for itself and at least one other platform within the environment and at least one functional robot platform (120, 1120) in communication with one or more navigator platforms for performing one or more functional tasks. In one embodiment, one or more navigator platforms (1110) are stationary and include sensors (202) for sensing information about the environment. In another embodiment, one or more functional robot platforms (1120) include sensors (304) for sending information about the environment. In still another embodiment, the system includes one or more stationary platforms (124) with sensors (310) for sensing information about the environment.

Abstract: A method and apparatus that afford a user accelerated access to operation of a balancing personal transporter. The method includes first initializing a single-axis stabilizer, and, while initializing a 3-axis stabilizer, alerting the rider that the transporter is ready for use, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer, and employing the 3-axis stabilizer for control of the balancing personal transporter. Apparatus includes single axis and 3-axis stabilizer and means to alert the user of the personal transporter.

Abstract: This invention relates to an eye-tracking driving system, especially to an eye-tracking system controlled by the user's eye. It not only utilizes the unique eye-controlled method, but also avoids contacting with the user's eyes or skin. It is suitable for the disabled persons or the elderly so that they can drive a powered vehicle easily. The system mainly includes a display device, an eye-tracking device, a calculating device, a controller and a powered vehicle. This system can effectively capture the image around the user's eye and then precisely determine the pupil center. Based on the position of the pupil center, the power vehicle can be controlled.

Abstract: A robotic device may utilize the processing power, memory/storage and user interface of a personal computer (“PC”) to improve its performance in embodiments of the present invention. Specifically, according to an embodiment, a robotic device may be coupled to a remote PC via a communications link (e.g., a wireless link) and harness the processing power in the remote PC to augment its own capabilities. The device may include various components that gather and transmit data to the PC via the communications link, and the PC may include an interface to accept the data and/or processing capabilities to process the data from the robotic device. Based on the processed data, the PC may determine an action for the device and send appropriate instructions to the device.

Abstract: A system for mobile robots to detect obstructions. Obstructions include objects which may impair the or impede the mobility of the robot, as well as transitions from carpeted surfaces to hard surfaces, transitions from hard surfaces to carpet, or transitions between other types of flooring. The system includes a plow which may move underneath the obstruction, The obstruction may the be brushed aside, or rise to an elevation detectable by the robot. Upon detection, the robot may change its direction of movement or stop moving altogether.

Abstract: A vehicular guidance method involves providing a user interface using which data can be input to establish a contour for a vehicle to follow, the user interface further configured to receive information from a differential global positioning system (DGPS), determining cross track and offset data using information received from the DGPS, generating control values, using at least vehicular kinematics, the cross track, and the offset data, and providing an output to control steering of the vehicle, using the control values, in a direction to follow the established contour while attempting to minimize the cross track and the offset data.

Abstract: The present invention pertains to a robotic wash cell including a six-axis robotic arm and end effector equipped with nozzles that spray unheated, solvent free, pure water at high-pressure to clean or debur objects by maintaining the nozzles in close proximity and substantially normal to each surface being cleaned or edge being deburred. The robotic cell wash is particularly useful for cleaning contaminants such as oil and grease from items having more complex shapes. The six-axis robotic arm positions the nozzles and their sprays substantially normal to each surface being cleaned or deburred. The nozzles produce a multi-zone spray pattern with a continuous effective cleaning zone. A water recycling and pressurizing system collects the used water, separates out the oil and grease contaminants to a level of about 5 ppm, and pressurizes the pure water to about 3,000 psi for washing operations or about 6,000 psi for deburring operations.

Abstract: A method, apparatus, and computer program product are presented for directing the movement of an agent in an environment. The operations of the invention comprise determining at least a first zone and direction to objects in at least a portion of the environment around the agent. A determination is also made regarding whether the agent is surrounded by objects. If the agent is surrounded by objects, it stays in the same position, and if it is not surrounded, a determination is made regarding whether the closest object is beyond the first zone from the agent. If the closest object is beyond the first zone, the agent may be moved toward a portion of the environment having the greatest object-saturation, and if the closest object is within the first zone, the agent can be moved toward a portion of the environment having the least object-saturation. Other zones may be provided.

Abstract: The present invention discloses a system and method for confining a robot to a particular space. The system includes a portable barrier signal transmitter that produces a barrier signal primarily along an axis, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal. In the preferred embodiment the barrier signal is emitted in an infrared frequency and the robot includes an omni-directional signal detector. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected.

Abstract: A charging system for a mobile robot includes the mobile robot that is battery-driven and moves in a self-controlled way within a work space, and a charging station for accommodating the mobile robot for a battery charging operation. The charging system includes visible recognition data arranged in a predetermined location of the charging station, an image pickup unit mounted on the mobile robot, a calculating unit for calculating a range and a bearing from the mobile robot to the charging station, based on an image picked up by the image pickup unit, and a searching unit for causing the mobile robot to search for the charging station, based on the calculation result provided by the calculating unit. Since the mobile robot searches for the charging station using a camera for recognizing the visible recognition data, a charging operation is automated.

Abstract: A travel controlling apparatus of an unmanned vehicle provided with a GPS receiver (13) receiving a GPS signal so as to position a position of a vehicle, an autonomous navigation computing device (14) positioning a position and an azimuth of the vehicle on the basis of a traveling direction and distance of the vehicle, a position measuring portion (11) calculating a present position and azimuth, and a travel controlling portion (17) controlling the vehicle travel. The travel controlling apparatus is provided with a roadside zone distance measuring device (15) for measuring a distance from the vehicle to a roadside zone (5) provided in a side of the traveling path (4), and the present position and azimuth is determined on the basis of the roadside zone distance measured by the roadside zone distance measuring device (15).

Abstract: A robot cleaner system capable of accurately docking with an external charging apparatus and a method for docking with an external charging apparatus comprising a power supply terminal connected to a supply of utility power, an external charging apparatus including a terminal stand for supporting the power supply terminal and fixing the external charging apparatus at a predetermined location, a driving unit for moving a cleaner body, an upper camera disposed on the cleaner body, for photographing a ceiling, a charging battery disposed in the cleaner body, for being charged by power supplied from the power supply terminal, a bumper disposed along an outer circumference of the cleaner body and outputting a collision signal when a collision with an obstacle is detected, and a robot cleaner disposed at the bumper to be connected with the power supply terminal and including a charging terminal connected to the charging battery, wherein, prior to starting on operation, the robot cleaner photographs an upward-lookin

Abstract: The present method and system allows minimization of a rollback effect when an electric vehicle, such as a wheelchair, brakes on a slope. The system comprises secondary brake, a controller, and a monitor that allows to apply both a control voltage and the secondary brakes according to an appropriate sequence to provide stops and starts with a minimized rollback effect. An updated armature resistance value is advantageously used to take into account evolutive conditions of the vehicle.

Abstract: A method and system for determining a work path for a machine determines a path that minimizes energy consumption of the machine to enhance a usable duration of an electrical charge of an energy source or to conserve fuel. A work area is defined and is divisible into a number of cells. Respective geographic factors associated with corresponding cells within the work area are defined. An estimator estimates energy levels, associated with a machine moving in or between adjacent cells, in corresponding proposed directions based on at least one geographic factor (e.g., any change in elevation between or within the adjacent cells). Candidate total energy levels are determined for moving the machine through the cells along corresponding alternate proposed work paths for the work area. A selector selects a preferential work path from the proposed work paths consistent with the determined lowest energy level of the candidate total energy levels.

Abstract: The invention relates to a method of connecting a mobile, electronic control and/or monitoring unit (9) to at least one machine or at least one machine component in a group or a plurality of machines (2) or machine components to be controlled and/or monitored. During a connection or log-on procedure between the control and/or monitoring unit (9) and a co-operating distant point on the respective machine (2), a clear link or log-on connection is set up either by means of interfaces (14, 15) to the selected, wireless direction-finder of the co-operating distant point or alternatively by means of transmitters and/or receivers (16, 17) tuned to a restricted, localized functional or operating range (21).

Abstract: Vehicle guidance and control systems that use the intensity of a field radiated from a source of radiation to define the track or lane for operation of the vehicles. The source of radiation used is a single source of radiation in the sense that vehicle position relative to the source of radiation is sensed by sensing intensity of the radiation at the vehicle, rather than the difference in field intensity sensed from two physically separated sources of radiation. Exemplary embodiments using a single magnetic field for navigational control are described, including a basic system for a single vehicle, a tethered system having steering and speed controls for creating a multiple vehicle racing environment, and a radio controlled system, also for creating a multiple vehicle racing environment and in the embodiment disclosed, also useable as a stand alone RC controlled vehicle.

Abstract: An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a DBAM that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.

Abstract: The present invention discloses a system and method for confining a robot to a particular space. The system includes a portable barrier signal transmitter that produces a barrier signal primarily along an axis, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal. In the preferred embodiment the barrier signal is emitted in an infrared frequency and the robot includes an omni-directional signal detector. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected.

Abstract: A device for controlling the engine (108) of a vehicle comprising an accelerator pedal (101) and an engine speed control circuit (102, 103, 106, 109) comprising in particular:

Abstract: A method of avoiding collisions between a robot and at least one other object such as another robot is provided in which the user does not need to make any provisions in a robot program for avoiding collisions and defining common work-areas. Furthermore, the method allows for automatic configuration of the workcell from a collision avoidance standpoint. It determines automatically which components have potential collisions with which other components. Since the inventive method is based on predicting the configurations of the moving components over a period of time sufficient enough to allow the machines to stop safely and checks for interference, a priori knowledge of trajectories is not required. If a collision is predicted the machines are commanded to a stop on or off their paths. In this way the inventive collision avoidance method can also be used as a safeguard with other explicit methods.

Abstract: A method of controlling an Automatic Guided Vehicle (AGV) system having a plurality of AGVs includes setting a moving path with task times of all the AGVs taken into account, and controlling the AGVs according to the set moving path. The setting the moving path includes calculating respective costs required for the AGVs to perform a plurality of tasks and calculating a number of cases occurring by allocation of each of the tasks to the AGVs. The setting the moving path also includes calculating respective total costs required for the AGVs to perform a corresponding task or corresponding tasks for all of the cases, determining a smallest and largest value out of the respective total costs for each of the cases, and setting the moving path of the AGVs according to the case having the smallest value.

Abstract: A method of controlling an Automatic Guided Vehicle (AGV) system includes setting moving paths of the AGVs by taking into account task performing costs of cases for orders of all tasks to be performed by the AGVs, and controlling the AGVs according to the set moving paths. The setting of the moving paths includes calculating the cases for the orders of all the tasks to be performed by the AGVs calculating respective costs required for the AGVs to perform the tasks for the calculated cases, calculating the task performing costs using the respective costs, and setting the moving paths of the AGVs according to a case where a minimum one of the calculated task performing costs is incurred.

Abstract: A method of utilizing a robot system is provided comprising the steps of commanding the robot system to perform a function in an area, the area having an area layout including at least one area segment. The method further includes accessing by the robot system a stored map of the area layout, the stored map having at least one function task associated with the at least one area segment, localizing a first position of the robot system in the area, determining a function path from the first position of the robot system for navigation of the area and completion of the at least one function task, repeatedly continuously localizing a current position of the robot system while navigating the robot system along the function path, and completing the at least one function task that is associated with the current position of the robot system.

Abstract: A method for controlling an automatic guided vehicle system having an automatic guided vehicle and a central controller for controlling the automatic guided vehicle is capable of operating with improved operational efficiency. The control method includes the steps of: transmitting of an IMMEDIATE command by the central controller to the automatic guided vehicle; checking by the central controller as to whether the automatic guided vehicle, which is performing the IMMEDIATE command, can receive a NEXT command; transmitting of the NEXT command by the central controller to the automatic guided vehicle; continuous receiving, analyzing, and storing of the NEXT command by the automatic guided vehicle while the automatic guided vehicle receives and performs the IMMEDIATE command; and sequentially performing NEXT commands stored in the automatic guided vehicle after completion of the IMMEDIATE command.

Abstract: A method is provided for controlling operation of a vehicle on a guideway system, wherein the vehicle includes a first element of a linear induction motor and an alternate power source, and the guideway system has an acceleration section including a second element of the linear induction motor, and a computer control system. The method includes utilizing the second element in cooperation with the first element so as to accelerate the vehicle on the acceleration section of the guideway system, and providing speed instructions to the vehicle using the computer control system so as to cause the vehicle to use the alternate power source to maintain a desired cruising speed on a main section of the guideway system.

Abstract: In a vehicle backward movement assisting apparatus for in-line parking, at a stop position of a vehicle, a seesaw switch is manipulated until an in-line guide line is superimposed on a target point which is a corner of a frame of a parking space, and a steering wheel is turned until the vehicle space mark is superimposed on the parking space, and the vehicle is moved backward while the steering angle of the steering wheel is held. When an eye mark is superimposed on the parking space, the vehicle is stopped, and the steering angle of the steering wheel is made maximum and the vehicle is moved backward, to thereby complete the in-line parking at the parking space.

Abstract: There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) and a sensor unit (43). The navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the area to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

Abstract: A robot cleaning system using a mobile communication network capable of controlling a cleaning robot from a long distance, the robot cleaning system transmitting an image data after converting the image data photographed at self-contained cameras by means of a mobile communication signal.

Abstract: A mobile robot system includes a RF module that is under the control of a controlling computer. The mobile robot system includes a running device for moving the mobile robot about a room, an obstacle detecting device for detecting the presence of an obstacle in the mobile robot's path, a location recognizing device, a first transceiver for transmitting and receiving a signal to control the various devices, and a controlling computer for data processing the signal from the first transceiver and transmitting a control command to the mobile robot. The controlling computer includes a second transceiver for transmitting and receiving a signal to and from the first transceiver, an image board for processing image data from the obstacle detecting device and the location recognizing device, and connecting means for connecting to the Internet. The mobile robot is compact and sized and can be remotely controlled via the Internet.

Abstract: A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.

Abstract: A robot touch shield device comprising a shell supported by at least one shell support member mounted on a base member, and a sensor device for sensing an exterior force applied to the shell, the sensor device having a base sensor portion having a center and a vertical member, the base sensor portion affixed on the base member, the vertical member affixed on the shell, the vertical member positioned over the center of the base sensor portion, wherein the exterior force applied to the shell translates the shell relative to the base member, the base sensor portion senses a displacement of the vertical member relative to the center of the base sensor portion and produces an output representing at least one of a direction of the exterior force applied and the degree of the exterior force applied.

Abstract: A series type hybrid electric vehicle and method including a generator set having an internal combustion engine and a generator, a battery array and at least one electric motor includes a controller for controlling propulsion of the vehicle. The controller generates a second signal having a value proportional to the value of a first signal, indicative of user demand, and indicative of a demand of the at least one electric motor, determines if the value of the first signal is larger than the value of the second signal, increases the value of a command signal to the at least one electric motor, if the value of the first signal is not larger than the value of the second signal, and decreases the value of the command signal, if the value of the first signal is larger than the value of the second signal.

Abstract: An automatic guidance system is comprised of a navigation apparatus mounted on a vehicle and a control server apparatus fixedly installed in an automatic travel control center which controls traveling in an automatic traveling section. The control server apparatus and the navigation apparatus establish a communication line through a mobile communication network. The navigation apparatus makes a search for a route to a destination. If at least part of the automatic traveling section is used in a route set by the search, the automatic traveling section is registered in the control server apparatus through the communication line.

Abstract: If an obstacle (74) is detected, its position is stored in obstacle memory unit (41) on the assumption that the obstacle (74) is common to a plurality of vehicles (2, 2). As vehicles (2, 2) pass by, the content of the obstacle memory unit (44) is updated. When the vehicles (2, 2) are supplied with position data of the respective goal point (72, 72), the vehicles (2, 2) are guided by their goal point (72, 72) in accordance with the content of the obstacle memory unit (41) so that they can avoid the obstacle (74). Vehicles can be thus guided to avoid obstacles by knowing the existence of obstacles in the working sites where the positions of obstacles are always different.

Abstract: System of guidance and positioning relative to a fixed station (1) for an autonomous mobile robot (7) utilizing at least a directional infra-red beam (2′) emitted by the fixed station, the mobile robot being provided with a directional system of detection (10a, 10b) of infra-red emission connected to a microcomputer incorporated in the said robot, the robot moving on a work surface in an essentially random manner, the microcomputer (44) including an algorithm able to control the return to fixed station (1) by displacement of the robot (7) towards the direction of emission of said infra-red beam (2′), characterized in that the infra-red beam (2′) is a narrow directional beam and in that the system of detection (10a, 10b) is located on a frame at the center of rotation of the robot (7), oriented in the direction of movement of the robot, precise positioning in the fixed station (1) being carried out by rotation of the machine around a vertical axis according to an algorithm based on the detect