A method for navigating an autonomous mobile robot

An autonomous mobile robot comprising:

• a sensor system configured to sense obstacles in surroundings of the autonomous mobile robot;
• memory storing a map comprising mapped elements in an area, wherein initial route implications are based on distances to the mapped elements, wherein the map comprises a planned route through the area, and wherein the planned route is based on traveling around at least one of the mapped elements in accordance with the initial route implications;
• and
• one or more processing devices configured to perform operations comprising:
• controlling the autonomous mobile robot to move along at least part of the planned route;
• identifying, based on information from the sensor system, one or more of the obstacles along the at least part of the planned route, wherein the autonomous mobile robot perceives the one or more obstacles as being different from the mapped elements, and wherein the one or more obstacles are actually one or more physical obstacles corresponding to one or more of the mapped elements;
• changing the initial route implications so that the one or more mapped elements are ignored or so that distances to the one or more mapped elements are changed, thereby producing changed route implications;
• and
• establishing a sub-route through the area based on the changed route implications.

Non-transitory machine-readable digital storage storing a map comprising mapped elements in an area, wherein initial route implications are based on distances to the mapped elements, wherein the map comprises a planned route through the area, wherein the planned route is based on traveling around at least one of the mapped elements in accordance with the initial route implications, and wherein the non-transitory machine-readable digital storage stores a computer program that is executable by one or more processing devices to perform operations comprising:

• controlling an autonomous mobile robot to move along at least part of the planned route;
• identifying, based on information from a sensor system associated with the autonomous mobile robot, one or more obstacles along the at least part of the planned route, wherein the autonomous mobile robot perceives the one or more obstacles as being different from the mapped elements, and wherein the one or more obstacles are actually one or more physical obstacles corresponding to one or more of the mapped elements;
• changing the initial route implications so that the one or more mapped elements are ignored or so that distances to the one or more mapped elements are changed, thereby producing changed route implications;
• and
• establishing a sub-route through the area based on the changed route implications.