System for path planning in areas outside of sensor field of view by an autonomous mobile device

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.

A method comprising:

• determining first sensor data associated with a first field-of-view (FOV) from a first sensor of a device at a first pose;
• determining, based on the first sensor data, a safe region comprising one or more geographical areas that are clear of obstacles;
• determining that the device is to move along a direction that is not viewable by the first FOV of the first sensor;
• determining a second pose of the device, based on an occupancy map of a physical space and on the safe region, wherein:
• the second pose is indicative of a pose to be used by the device to start moving along the direction,
• the second pose is outside of the first FOV of the first sensor at the first pose, and
• a structure of the device, as aligned with the second pose, is within the safe region;
• and
• moving the device to the second pose.