# US 12,005,586 B2 · Dynamic navigation of autonomous vehicle with safety infrastructure

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- Number: US 12,005,586 B2
- Document ID: US12005586B2
- Status: Granted
- Kind: B2
- Application number: 17/316,953
- Filed: 2021-05-11
- Published: 2021-08-26
- Granted: 2024-06-11
- Earliest claimed: 2017-11-27
- Assignees: Amazon Technologies, Inc.
- Applicants: Amazon Technologies, Inc.
- Inventors: Stephen Charles Paschall, II; Justin Croyle; Shilpi Gupta; Anatoly Mitlin; Ashish Shah
- Web page: https://patentgrep.com/patent/US12005586B2

## CPC

- B25J 9/1666: {Avoiding collision or forbidden zones}
- G05D 1/633: Dynamic obstacles
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/024: {in combination with a laser (lasers per se H01S)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/242: Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D1/244; using signals provided by artificial sources external to the vehicle G05D1/247)
- G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM]
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80)
- G05D 1/637: {using safety zones of adjustable size or shape}
- G05D 1/81: Handing over between on-board automatic and on-board manual control
- G08G 1/00: Traffic control systems for road vehicles (arrangement of road signs or traffic signals E01F9/00 {; automatic vehicle control B62D})
- G05D 2105/28: of freight
- G05D 2107/70: Industrial sites, e.g. warehouses or factories
- G05D 2109/10: Land vehicles
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

Disclosed autonomous mobile robot systems can be used to safely and efficiently navigate through a facility while avoiding objects in the path of the autonomous mobile robot during completion of a task. Specifically, a first bounded area based on first sensor data may be generated around an autonomous mobile robot where the first sensor data is used to identify objects in a travel path for the autonomous mobile robot and determine a speed for navigating the facility. A second bounded area of a size less than the first bounded area may be generated around the autonomous mobile robot based on speed information from propulsion components of the autonomous mobile robot. A new travel path and new speed information may be generated based on identifying an object in the travel path, dimensional measurements of a space around the object, and a current size of the second bounded area.

## Claims

### Claim 1

A computer-implemented method comprising:
receiving, by a computer system of an autonomous mobile robot, instructions for completing a particular task within a facility;
generating, by the computer system, a local travel path for navigating the facility to complete the particular task at a certain speed based at least in part on generating a first bounded area of a first size around the autonomous mobile robot using first sensor data from a first set of sensors associated with the autonomous mobile robot and generating a second bounded area of a second size around the autonomous mobile robot based at least in part on speed information from one or more propulsion components of the autonomous mobile robot, the second bounded area associated with second sensor data from a second set of sensors associated with the autonomous mobile robot, the first set of sensors configured to detect an object within the first bounded area and the second set of sensors configured to detect the object within the second bounded area;
detecting, by the computer system, the object within the local travel path based at least in part on the first sensor data identifying the object within the first bounded area;
identifying, by the computer system, dimensional measurements for a space around the object within the first bounded area based at least in part on the first sensor data;
receiving, by the computer system, an indication of a fiduciary marking within a certain distance of the autonomous mobile robot, the fiduciary marking associated with a continuous wall of the facility; and
generating, by the computer system, a new local travel path and an updated speed for the autonomous mobile robot to utilize to navigate the facility based at least on the dimensional measurements, the indication of the fiduciary marking, and an updated second size of the second bounded area, the updated second size of the second bounded area generated by at least filtering a portion of the second sensor data based on the indication of the fiduciary marking.

### Claim 2 (depends on 1)

The computer-implemented method of claim 1, further comprising filtering, by the computer system, an additional portion of the first sensor data and the second sensor data while utilizing the new local travel path that includes the continuous wall.

### Claim 3 (depends on 1)

The computer-implemented method of claim 1, further comprising receiving, by the computer system and from a server computer, one or more global travel paths that are each associated with a different weight based at least in part on historical paths taken by other autonomous mobile robots associated with the facility, wherein generating the new local travel path and the updated speed is further based at least in part on the one or more global travel paths.

### Claim 4 (depends on 3)

The computer-implemented method of claim 3, wherein a global travel path of the one or more global travel paths identifies an area of the facility with an open lane based at least in part on the historical paths.

### Claim 5 (depends on 3)

The computer-implemented method of claim 3, wherein a global travel path of the one or more global travel paths identifies an area of the facility with a plurality of objects based at least in part on the historical paths.

### Claim 6 (depends on 1)

The computer-implemented method of claim 1, wherein generating the new local travel path and the updated speed is further based at least in part on the first sensor data identifying that the object is stationary.

### Claim 7 (depends on 1)

The computer-implemented method of claim 1, wherein generating the new local travel path and the updated speed is further based at least in part on the first sensor data identifying that the object is not stationary and a directionality of the not stationary object.

### Claim 8 (depends on 1)

The computer-implemented method of claim 1, wherein generating the updated second size comprises generating an updated second bounded area that excludes the continuous wall using the portion of the second sensor data.

### Claim 9 (depends on 1)

The computer-implemented method of claim 1, wherein the first bounded area is generated simultaneously with the second bounded area.

### Claim 10 (depends on 2)

The computer-implemented method of claim 2, further comprising generating an updated first bounded area that excludes the continuous wall using the additional portion of the first sensor data and the second sensor data.

### Claim 11

A computer system of an autonomous mobile robot comprising:
a memory configured to store computer-executable instructions; and
a processor in communication with the memory configured to execute the computer-executable instructions to at least:
receive instructions for completing a particular task within a facility;
generate a local travel path for navigating the facility to complete the particular task at a certain speed based at least in part on generating a first bounded area of a first size around the autonomous mobile robot using first sensor data from a first set of sensors associated with the autonomous mobile robot and generating a second bounded area of a second size around the autonomous mobile robot based at least in part on speed information from one or more propulsion components of the autonomous mobile robot, the second bounded area associated with second sensor data from a second set of sensors associated with the autonomous mobile robot, the first set of sensors configured to detect an object within the first bounded area and the second set of sensors configured to detect the object within the second bounded area;
detect the object within the local travel path based at least in part on the first sensor data identifying the object within the first bounded area;
identify dimensional measurements for a space around the object within the first bounded area based at least in part on the first sensor data;
receive an indication of a fiduciary marking within a certain distance of the autonomous mobile robot, the fiduciary marking associated with a continuous wall of the facility; and
generate a new local travel path and an updated speed for the autonomous mobile robot to utilize to navigate the facility based at least in part on the dimensional measurements, the indication of the fiduciary marking, and an updated second size of the second bounded area, the updated second size of the second bounded area generated by at least filtering a portion of the second sensor data based on the indication of the fiduciary marking.

### Claim 12 (depends on 11)

The computer system of claim 11, wherein the processor is further configured to execute the computer-executable instructions to filter an additional portion of the first sensor data and the second sensor data while utilizing the new local travel path that includes the continuous wall.

### Claim 13 (depends on 11)

The computer system of claim 11, wherein the processor is further configured to execute the computer-executable instructions to receive, from a server computer, one or more global travel paths that are each associated with a different weight based at least in part on historical paths taken by other autonomous mobile robots associated with the facility, wherein generating the new local travel path and the updated speed is further based at least in part on the one or more global travel paths.

### Claim 14 (depends on 13)

The computer system of claim 13, wherein a global travel path of the one or more global travel paths identifies an area of the facility with an open lane based at least in part on the historical paths.

### Claim 15 (depends on 13)

The computer system of claim 13, wherein a global travel path of the one or more global travel paths identifies an area of the facility with a plurality of objects based at least in part on the historical paths.

### Claim 16 (depends on 11)

The computer system of claim 11, wherein generating the new local travel path and the updated speed is further based at least in part on the first sensor data identifying that the object is stationary.

### Claim 17 (depends on 11)

The computer system of claim 11, wherein generating the new local travel path and the updated speed is further based at least in part on the first sensor data identifying that the object is not stationary and a directionality of the not stationary object.

### Claim 18 (depends on 11)

The computer system of claim 11, wherein generating the updated second size comprises generating an updated second bounded area that excludes the continuous wall using the portion of the second sensor data.

### Claim 19 (depends on 11)

The computer system of claim 11, wherein the first bounded area is generated simultaneously with the second bounded area.

### Claim 20 (depends on 12)

The computer system of claim 12, further comprising generating an updated first bounded area that excludes the continuous wall using the additional portion of the first sensor data and the second sensor data.