System to localize, characterize, and map a collision of an autonomous mobile device

Abstract

An autonomous mobile device (AMD) moves within in a physical space. The AMD may encounter features in the physical space, such as flooring transitions, or obstacles that may impede movement. Sensors such as an ultrasonic sensor, optical time of flight sensors, inertial measurement unit (IMU), wheel speed sensors, and motor torque sensors acquire sensor data. Based on the sensor data, a location of an obstacle, and characterize whether that obstacle is traversable or non-traversable, is determined. If traversable, the AMD may continue moving past the obstacle. If non-traversable, the location of the obstacle may be added to a map used for route planning. Based on the location of the non-traversable obstacle, the AMD may move to a recovery location away from the obstacle, and resume moving.