公开(公告)号：US12105514B1

公开(公告)日：2024-10-01

申请号：US17445230

申请日：2021-08-17

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： James Charles Zamiska ,  Jong Jin Park ,  Mohit Deshpande ,  Rajasimman Madhivanan ,  Dhruva Kumar

IPC: G01C22/00 ,  G05D1/00 ,  G06T7/579

CPC classification number: G05D1/0221 ,  G05D1/0238 ,  G05D1/0274 ,  G06T7/579 ,  G06T2207/30244

Abstract: An autonomous mobile device (AMD) may move around a physical space to perform tasks. The AMD may explore the physical space to determine map data characterizing the physical space. An exploration system maintains a world snapshot that is representative of the AMD with respect to the physical space. A plurality of planning algorithm modules are available, each able to achieve a particular exploration goal or operate under particular conditions such as initial motion, loop closure, frontier exploration, and so forth. One or more planning algorithms are selected and provided with the world snapshot data. These planning algorithms provide responses and may also determine plan data. The resulting plan data is then selected for execution. The execution of the selected plan data operates the AMD to explore the physical space.