公开(公告)号：US11960288B1

公开(公告)日：2024-04-16

申请号：US17447155

申请日：2021-09-08

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Yue Hu ,  Jong Jin Park ,  Daimian Wang ,  Roopesh Athipatla Pattabhi ,  Jingyu Qiao ,  Changsheng Shen

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0214 ,  G05D1/0223 ,  G05D1/0238 ,  G05D1/0274

Abstract: An autonomous mobile device (AMD) moves around a physical space while performing tasks. The AMD may have sensors with fields of view (FOVs) that are forward-facing. As the AMD moves forward, a safe region is determined based on data from those forward-facing sensors. The safe region describes a geographical area clear of obstacles during recent travel. Before moving outside of the current FOV, the AMD determines whether a move outside of the current FOV keeps the AMD within the safe region. For example, if a path that is outside the current FOV would result in the AMD moving outside the safe region, the AMD modifies the path until poses associated with the path result in the AMD staying within the safe region. The resulting safe path may then be used by the AMD to safely move outside the current FOV.