System for obstacle avoidance by autonomous mobile device

An autonomous mobile device (AMD) moves through a physical space without human intervention. Data from sensors on the AMD are used to determine an occupancy map indicative of obstacles and their locations in the physical space. A navigation map is created from the occupancy map by inflating the appa...

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Bibliographische Detailangaben
Hauptverfasser:	Madhivanan, Rajasimman, Jayaprakasam, Madan, Webster, Roger Robert
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING COMPUTING CONTROLLING COUNTING GYROSCOPIC INSTRUMENTS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS REGULATING SURVEYING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING
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Beschreibung
Zusammenfassung:	An autonomous mobile device (AMD) moves through a physical space without human intervention. Data from sensors on the AMD are used to determine an occupancy map indicative of obstacles and their locations in the physical space. A navigation map is created from the occupancy map by inflating the apparent size of the obstacles indicated by the occupancy map. In one implementation the inflation process dynamically skips some portions of the occupancy map based on the presence of an obstacle and a designated inflation distance. The extent of the inflation is based on a size of the AMD. The navigation map is then used for path planning.