Material handling vehicle path validation and dynamic path modification

摘要

A material handling vehicle comprising a path verification tool and a drive unit, a steering unit, a position measurement module, and a navigation module that cooperate to navigate the vehicle along a warehouse travel path. The tool includes warehouse layout data, proposed travel paths, vehicle kinematics, and dynamic vehicle boundaries that approach the vehicle physical periphery. The tool determines the vehicle posture along the proposed travel path, updates the dynamic vehicle boundaries to account for changes in vehicle speed and steering angle, and updates the dynamic vehicle boundaries based on the determined vehicle posture at the candidate locations along the proposed travel path Determining if the dynamic vehicle boundary is likely to intersect obstacles indicated in the layout data, determining a degree of potential collision at the candidate locations by referring to the dynamic vehicle boundary and obstacle data, And executes the path verification logic to modify the proposed path to mitigate the degree of collision.