公开(公告)号：US11175664B1

公开(公告)日：2021-11-16

申请号：US16248516

申请日：2019-01-15

Applicant: Amazon Technologies, Inc.

Inventor： Hakan Boyraz ,  Marshall Tappen ,  Baoyuan Liu ,  Xiaohan Nie ,  Sheng Chen ,  Christopher Brown

IPC: G05D1/02 ,  G06F16/29 ,  G06Q10/08 ,  B60P3/00 ,  G06K9/00 ,  G01C21/34

Abstract: An autonomous delivery robot system to enable delivery of a product to a customer is described. One autonomous ground vehicle (AGV) includes a processing device that receives a delivery request comprising a route divided into multiple navigation segments and computes a navigable space from perception data stored in a perception map. The perception map is a robot-centered local map that stores the perception data indicative of the surroundings of the AGV. The processing device computes a cost inflation from the perception data stored in the perception map, determines a sub-goal that is on the navigable space and reachable by the AGV using the navigable space and the cost inflation, and determines a path to achieve the sub-goal using the using the navigable space and the cost inflation. The processing device controls one or more actuators to move along the path.