公开(公告)号：US20210173405A1

公开(公告)日：2021-06-10

申请号：US16703117

申请日：2019-12-04

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Peter Arandorenko ,  Sadegh Tajeddin ,  Zi Cong Guo

IPC: G05D1/02 ,  B25J9/16

Abstract: A method of obstacle handling for a mobile automation apparatus includes: obtaining an initial localization of the mobile automation apparatus in a frame of reference; detecting an obstacle by one or more sensors disposed on the mobile automation apparatus; generating and storing an initial location of the obstacle in the frame of reference, based on (i) the initial localization, and (ii) a detected position of the obstacle relative to the mobile automation apparatus; obtaining a correction to the initial localization of the mobile automation apparatus; and applying a positional adjustment, based on the correction, to the initial position of the obstacle to generate and store an updated position of the obstacle.