A vehicular system has a database of position data of discrete points on a route, a first positioning circuit that measures an own vehicle position by using the magnetic markers, a second positioning circuit that measures the own vehicle position by autonomous navigation, and a control circuit that controls the vehicle by taking a deviation of the own vehicle position with respect to the route as a control target. In the database, marker position data with reference to any discrete point is recorded as linked to position data. The first positioning circuit identifies the detected magnetic marker by referring to the database. The control circuit identifies the deviation of the own vehicle position with respect to the route by referring to the database.

A storage and retrieval system including a storage structure having storage shelves, each storage shelf having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle including at least one sensor configured to sense each of the slats and output a signal indicating when a slat is sensed, and a controller for verifying a location of the autonomous transport vehicle within the storage structure based on at least the output signal.

Disclosed is a parking robot, including: a driving device moving the parking robot; a camera installed to have a front view of the parking robot; and a controller electrically connected to the driving device and the camera, in which the controller configured to acquire at least one of a color image or a depth map through the camera, determine, based on a fusion of the color image and the depth map, a gap between a first tire and a second tire of a target vehicle located in front of the parking robot and a height from a lower portion of a main body of the target vehicle to ground, and control the driving device so that the parking robot enters the lower portion of the target vehicle based on the gap and the height.

A mobile body controller according to the present disclosure includes circuitry configured to recognize an environment surrounding a mobile body to be controlled, and change parameters used for self-position estimation by the mobile body based on the recognized environment.

A method of controlling a robotic mower to move according to a selected path map, the method includes: moving the robotic mower along a selected path; obtaining current position information of the robotic mower; determining a deviation between the current position and a predetermined position of the selected path; determining that a missing mowing area occurs when the deviation is greater than a preset threshold value; and moving the robotic mower to cut the missing mowing area.

The invention relates to a method for monitoring and controlling the navigation of an automated guided vehicle. The vehicle comprises a fork, a primary sensor, a secondary sensor, and a controller. The method comprises: monitoring movement of the vehicle in a normal mode between first position and second position and monitoring movement of the vehicle in an object handling mode between said second position and a target position. The monitoring in the object handling mode includes: establishing the change of distance between the vehicle and the object in two points in time based on distance obtained by the primary sensor, measuring a distance travelled by the vehicle during the two points in time by said secondary sensor, and comparing the change of distance and the measure distance and based on the comparing result determine if correction of the motion of the vehicle is needed.

A lawnmower is instructed to move from a reference point along the boundary wire and to follow the boundary wire along a boundary path back to the reference point, using data from at least one wire sensor of the lawnmower. One or more elements are determined along the boundary path using distance data from at least one distance sensor of the lawnmower and using angular velocity data from at least one direction sensor of the lawnmower. The one or more elements are identified as one of at least three different types of elements. The mowing area is calculated from the identified types of the one or more elements and the distance data and angular velocity data received for the one or more elements. Other important features are obtained from the calculation of the mowing area including, but not limited to, multiple starting points and a parallel mowing pattern.

Systems and methods for forming holes in a ground cover material as a vehicle travels over terrain. The methods comprise: detecting when a mobility mechanism of the vehicle or a machine coupled to the vehicle has moved in a direction by a certain amount; generating a control signal by a controller responsive to said detecting; communicating the control signal from the controller to a heat source; producing heat by the heat source in response to the control signal; and using the heat to form a hole in the ground cover material as the vehicle travels at a speed over the terrain.

An autonomous transport vehicle, for transporting items in a storage and retrieval system, includes a frame, a controller, at least two independently driven drive wheels mounted to the frame, and at least one caster wheel mounted to the frame and having a castering assistance motor that engages the at least one caster wheel so as to impart castering assistance torque to the at least one caster wheel assisting castering of the at least one caster wheel. The controller is communicably connected to the castering assistance motor and configured to effect via a combination of vehicle yaw, generated by differential torque from the at least two independently driven drive wheels, and castering assistance torque from the castering assistance motor, castering of the at least one caster wheel with the autonomous transport vehicle in motion with a predetermined kinematic state.

A mobility platform is configured to execute one or more tasks in a worksite including a first passive landmark and a second passive landmark. The mobility platform may include a chassis, a drive system supporting the chassis, a first laser rangefinder disposed on the chassis at a first location, a second laser rangefinder disposed on the chassis at a second location, and at least one processor. The at least one processor may be configured to determine a position and orientation of the chassis based on a first distance measured by the first laser rangefinder between the first location and a first known landmark position, a second distance measured by the second laser rangefinder between the second location and a second known landmark position, and yaw angle information from at least one of the first and second laser rangefinders.