| CPC G05D 1/0238 (2013.01) [G05D 1/0212 (2013.01); G05D 1/0274 (2013.01); G05D 2201/0207 (2013.01)] | 20 Claims |
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1. An autonomous mobile device (AMD) comprising:
one or more sensors;
one or more memories storing computer-executable instructions; and
one or more processors to execute the computer-executable instructions to:
acquire, using the one or more sensors, first sensor data at a first location in a physical space;
determine, based at least in part on the first sensor data, a first occupancy map indicative of locations of one or more physical obstacles or one or more unexplored areas;
process the first occupancy map with a distance vector transform function to determine a first graph, the first graph comprising:
a first vertex,
a second vertex,
a third vertex,
a first edge comprising a first plurality of points between the first vertex and the second vertex, wherein each of the first plurality of points corresponds to a second location in the physical space, wherein the second location is associated with first data indicating a physical obstacle is within a certain distance of the second location, and
a second edge comprising a second plurality of points between the second vertex and the third vertex, wherein a first point of the second plurality of points corresponds to a third location in the physical space, wherein the third location is associated with the first data indicating an unexplored area is within a certain distance of the third location;
move the AMD to a fourth location in the physical space that corresponds to one of the first plurality of points;
acquire second sensor data at the fourth location; and
perform a loop closure process using the second sensor data.
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