US 11,960,288 B1
System for path planning in areas outside of sensor field of view by an autonomous mobile device
Yue Hu, San Francisco, CA (US); Jong Jin Park, Sunnyvale, CA (US); Daimian Wang, Fremont, CA (US); Roopesh Athipatla Pattabhi, Newark, CA (US); Jingyu Qiao, Milpitas, CA (US); and Changsheng Shen, Mountain View, CA (US)
Assigned to AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed by AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed on Sep. 8, 2021, as Appl. No. 17/447,155.
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0223 (2013.01); G05D 1/0238 (2013.01); G05D 1/0274 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous mobile device (AMD) comprising:
a structure;
a sensor having a first field-of-view (FOV) directed in a first direction with respect to the structure;
one or more memories storing computer-executable instructions; and
one or more processors to execute the computer-executable instructions to:
move the AMD along the first direction to a first pose in a physical space;
determine a first geographical area, of the physical space, associated with the first pose, wherein the AMD traverses a portion of the first geographical area to reach the first pose;
determine that the AMD is to move along a second direction that is not viewable by the first FOV of the sensor;
determine a second pose of the AMD, the second pose indicative of a possible pose to be used by the AMD to start moving along the second direction;
determine that a portion of the structure of the AMD as aligned with the second pose would be outside of the first geographical area;
responsive to the determine that the portion of the structure of the AMD as aligned with the second pose would be outside of the first geographical area, determine a third pose of the AMD, the third pose indicative of an alternative pose to be used by the AMD to keep the structure within the first geographical area while starting to move along the second direction; and
move the AMD to the third pose, wherein the third pose is outside the first FOV of the sensor at the first pose.