US 12,105,514 B1
System for planning exploration by autonomous mobile device
James Charles Zamiska, Palo Alto, CA (US); Jong Jin Park, Sunnyvale, CA (US); Mohit Deshpande, San Jose, CA (US); Rajasimman Madhivanan, San Francisco, CA (US); and Dhruva Kumar, San Jose, CA (US)
Assigned to AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed by AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed on Aug. 17, 2021, as Appl. No. 17/445,230.
Int. Cl. G01C 22/00 (2006.01); G05D 1/00 (2006.01); G06T 7/579 (2017.01)
CPC G05D 1/0221 (2013.01) [G05D 1/0238 (2013.01); G05D 1/0274 (2013.01); G06T 7/579 (2017.01); G06T 2207/30244 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An autonomous mobile device (AMD) comprising:
one or more sensors that acquire data about a physical space;
one or more memories storing computer-executable instructions; and
one or more processors to execute the computer-executable instructions to:
determine first data using the one or more sensors;
determine, based on the first data, second data that is representative of the AMD with respect to the physical space;
initiate exploration of the physical space, wherein the exploration comprises a first pass of the physical space and a second pass of the physical space;
determine, using the second data and a first planning algorithm, first plan data indicative of the first pass of the physical space;
perform the first pass by operating the AMD based on the first plan data;
determine third data using the one or more sensors;
determine, based on the second data and the third data, fourth data that is representative of the AMD with respect to the physical space;
determine, using the fourth data and the first planning algorithm, a first response that indicates no further plan by the first planning algorithm;
determine, using the fourth data and a second planning algorithm, second plan data indicative of the second pass of the physical space; and
perform the second pass by operating the AMD based on the second plan data.