US 11,853,077 B1
System for determining constraint regions for an autonomous mobile device
Dylan Fairchild Glas, San Francisco, CA (US)
Assigned to AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed by AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed on Jul. 15, 2020, as Appl. No. 16/929,459.
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06T 5/00 (2006.01)
CPC G05D 1/0274 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0223 (2013.01); G05D 1/0238 (2013.01); G06T 5/002 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
determining first data indicative of obstacles within a physical space;
determining second data by applying a smoothing algorithm to the first data;
determining, based on the second data, third data representing a skeleton associated with the physical space;
determining fourth data that associates a region type with a portion of the skeleton;
determining fifth data by pruning at least a first portion of the skeleton represented by the fourth data;
determining sixth data indicative of one or more regions, wherein the one or more regions are based on the region type associated with a second portion of the skeleton;
determining, based on the sixth data, a first location in a first region; and
moving an autonomous mobile device (AMD) to the first location.