Patent ID: 11960288
Assignee: AMAZON TECHNOLOGIES, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 3:
4. An autonomous mobile device (AMD) comprising:
a structure;
a first sensor comprising a first field-of-view (FOV);
one or more memories storing computer-executable instructions; and
one or more processors to execute the computer-executable instructions to:
determine that the AMD is in a first pose at a first location in a physical space;
determine a second pose of the AMD in the physical space, wherein the second pose is associated with moving the AMD to a second location and the second pose is outside the first FOV;
determine, based on an occupancy map of the physical space, a first path from the first location to the second location;
prior to moving the AMD along the first path, determine a safe region associated with the second location;
determine that the AMD, as aligned with the second pose, would result in at least a portion of the structure being outside of the safe region;
in response to the determine that the AMD, as aligned with the second pose, would result in at least a portion of the structure being outside of the safe region, determine a third pose of the AMD in the physical space, wherein the third pose is indicative of an alternative pose to be used by the AMD to keep the structure inside the safe region; and
move the AMD to the third pose.