MATERIAL HANDLING VEHICLE, AND METHOD FOR PERFORMING PATH VALIDATION LOGIC FOR A MATERIAL HANDLING VEHICLE.

摘要

a material handling vehicle comprising a path validation tool and a drive unit, steering unit, location module, and navigation module, which cooperate to navigate the vehicle along a warehouse travel path. The tool comprises warehouse configuration data, a proposed travel path, vehicle kinematics, and a dynamic vehicle boundary that approximates the physical vehicle periphery. the tool executes path validation logic to determine vehicle posture along the proposed travel path, updates the dynamic vehicle limit to account for changes in vehicle speed and steering angle, determines whether the dynamic vehicle boundary is likely to intersect obstacles represented in the configuration data based on vehicle stance determined at candidate positions along the proposed travel path, determine a degree of potential impact on candidate positions by reference to the dynamic vehicle limit and obstacle data, and modifies the proposed travel path to mitigate the degree of potential impact.