Lift device with obstacle detection and path selection system

A lift device, comprising:

• a base assembly configured to propel the lift device;
• a lift assembly coupled to the base assembly;
• a platform assembly coupled to the lift assembly and including a rail coupled to a deck, wherein the lift assembly is configured to raise the platform assembly relative to the base assembly;
• a first sensor coupled to the rail and configured to detect a first obstacle;
• a second sensor coupled to the deck and configured to detect a second obstacle;
• and
• a controller operatively coupled to the first sensor and the second sensor and configured to:
• receive a command to control at least one of the base assembly or the lift assembly to move the lift device along a first path;
• determine a second path for the lift device that is different from the first path in response to at least one of (a) the first sensor detecting the first obstacle or (b) the second sensor detecting the second obstacle;
• and
• control at least one of the base assembly or the lift assembly to move the lift device along the second path.

A method, comprising:

• receiving, by one or more processing circuits, sensor data from one or more sensors disposed on a lift device;
• detecting, by the one or more processing circuits, an obstacle near the lift device based on the sensor data;
• determining, by the one or more processing circuits, responsive to the obstacle being near the lift device, a path to a destination for the lift device that avoids interacting with the obstacle;
• and
• monitoring, by the one or more processing circuits, the lift device to determine whether there is a collision on the path between the lift device and the obstacle or another obstacle.