Abstract: An autonomous mobile device (AMD) moves around a physical space while performing tasks. The AMD may have sensors with fields of view (FOVs) that are forward-facing. As the AMD moves forward, a safe region is determined based on data from those forward-facing sensors. The safe region describes a geographical area clear of obstacles during recent travel. Before moving outside of the current FOV, the AMD determines whether a move outside of the current FOV keeps the AMD within the safe region. For example, if a path that is outside the current FOV would result in the AMD moving outside the safe region, the AMD modifies the path until poses associated with the path result in the AMD staying within the safe region. The resulting safe path may then be used by the AMD to safely move outside the current FOV.

Abstract: Disclosed is a digital PWM input D class amplifier by PWM negative feedback. The amplifier includes: digital modulation part for modulating PCM signal of input audio to PWM signal; pulse width generating and correcting part for comparing difference between the PWM signal and output signal negatively fed back, with PWM ramp signal to generate PWM switching signal; output part for generating an amplified output audio signal in response to the PWM switching signal of the pulse width generating and correcting part; and voltage negative feedback loop for negatively feeding back signal of the output part and decreasing a harmonic component to provide the signal to the pulse width generating and correcting part. Thus, the invention compares the negative feedback signal with positive/negative (+/?) saw tooth PWM ramp signal to control On/Off time period of switching transistor and the PWM pulse width and thereby enhance the linearity of the output PWM.

Abstract: Disclosed is a digital PWM input D class amplifier by PWM negative feedback. The amplifier includes: digital modulation part for modulating PCM signal of input audio to PWM signal; pulse width generating and correcting part for comparing difference between the PWM signal and output signal negatively fed back, with PWM ramp signal to generate PWM switching signal; output part for generating an amplified output audio signal in response to the PWM switching signal of the pulse width generating and correcting part; and voltage negative feedback loop for negatively feeding back signal of the output part and decreasing a harmonic component to provide the signal to the pulse width generating and correcting part. Thus, the invention compares the negative feedback signal with positive/negative (+/?) saw tooth PWM ramp signal to control On/Off time period of switching transistor and the PWM pulse width and thereby enhance the linearity of the output PWM.