公开(公告)号：US11409295B1

公开(公告)日：2022-08-09

申请号：US16119407

申请日：2018-08-31

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Sandeep Samdaria ,  Amin Hani Atrash ,  Saurabh Gupta ,  Sven Cremer ,  Raumi Sidki

IPC: G05D1/02 ,  G01C21/00 ,  B60W50/00 ,  G01C21/34

Abstract: A robot uses types of behavior such as approach, follow, avoid, and so forth to move about an environment and interact with a user. An occupancy map provides information about obstacles in the environment. A predicted trajectory of the user is determined that is indicative of expected locations and confidence of those expected locations. The predicted trajectory may be based on the user's movement and the occupancy map. Based on the predicted trajectory and the occupancy map, a target point and a path to the target point is determined. The path may also be based on a proxemic cost map that specifies how regions with respect to the user may be traversed.