Systems and methods for generating a coverage field for obstacle detection. The system includes a sensor to detect obstacles. The system further includes a material handling vehicle guided by a guidance system and a controller. The controller is configured to: generate a coverage field for the sensor, receive position characteristics of the material handling vehicle, determine a position of the material handling vehicle relative to the guidance system based on the position characteristics, and transform the coverage field based on the determined position of the material handling vehicle.

Disclosed is a system for controlling a transition between a first area and a second area in an operating environment. The system includes a transition area separating the first area from the second area of the operating environment, a monitoring device with at least two opposing first sensor units and adapted to span in the transition area a substantially horizontally oriented monitoring field, at least one pair of entry fields extending in a depth direction from the monitoring, and a control unit adapted to communicate with vehicles moving in the operating environment.