Abstract: Fixed segmented lattice planning for a mobile automation apparatus is provided. A mobile automation apparatus is provisioned with a plurality of segments for a plurality of paths through an environment, each of the plurality of segments being fixed in a reference frame, the plurality of segments arranged in a lattice configuration, with adjacent segments defining fixed nodes in the lattice configuration. The apparatus navigates through the environment on a segment-by-segment basis, storing control inputs and error signals for each segment and then later, when again navigating a segment using stored control inputs and error signals to generate current control inputs, along with current error signals, and storing the current control inputs and the current error signals. Indeed, each time the apparatus navigates a segment in the lattice configuration, the control inputs and the error signals are updated to refine navigation through the environment at each navigation through a segment.

Abstract: Obstacle detection for a mobile automation apparatus is provided. The mobile automation apparatus includes a structured light camera positioned on a support structure to detect at least a top of a shopping cart in a region adjacent to the mobile automation apparatus. The mobile automation apparatus can include other structured light cameras. Furthermore, one or more ultrasound arrays are used as secondary obstacle detector such that when the one or more ultrasound arrays detect an object, and at least one structured light camera simultaneously does not detect the object, an obstacle avoidance protocol is implemented.

Abstract: Fixed segmented lattice planning for a mobile automation apparatus is provided. A mobile automation apparatus is provisioned with a plurality of segments for a plurality of paths through an environment, each of the plurality of segments being fixed in a reference frame, the plurality of segments arranged in a lattice configuration, with adjacent segments defining fixed nodes in the lattice configuration. The apparatus navigates through the environment on a segment-by-segment basis, storing control inputs and error signals for each segment and then later, when again navigating a segment using stored control inputs and error signals to generate current control inputs, along with current error signals, and storing the current control inputs and the current error signals. Indeed, each time the apparatus navigates a segment in the lattice configuration, the control inputs and the error signals are updated to refine navigation through the environment at each navigation through a segment.

Abstract: Fixed segmented lattice planning for a mobile automation apparatus is provided. A mobile automation apparatus is provisioned with a plurality of segments for a plurality of paths through an environment, each of the plurality of segments being fixed in a reference frame, the plurality of segments arranged in a lattice configuration, with adjacent segments defining fixed nodes in the lattice configuration. The apparatus navigates through the environment on a segment-by-segment basis, storing control inputs and error signals for each segment and then later, when again navigating a segment using stored control inputs and error signals to generate current control inputs, along with current error signals, and storing the current control inputs and the current error signals. Indeed, each time the apparatus navigates a segment in the lattice configuration, the control inputs and the error signals are updated to refine navigation through the environment at each navigation through a segment.

Abstract: Fixed segmented lattice planning for a mobile automation apparatus is provided. A mobile automation apparatus is provisioned with a plurality of segments for a plurality of paths through an environment, each of the plurality of segments being fixed in a reference frame, the plurality of segments arranged in a lattice configuration, with adjacent segments defining fixed nodes in the lattice configuration. The apparatus navigates through the environment on a segment-by-segment basis, storing control inputs and error signals for each segment and then later, when again navigating a segment using stored control inputs and error signals to generate current control inputs, along with current error signals, and storing the current control inputs and the current error signals. Indeed, each time the apparatus navigates a segment in the lattice configuration, the control inputs and the error signals are updated to refine navigation through the environment at each navigation through a segment.

Abstract: Obstacle detection for a mobile automation apparatus is provided. The mobile automation apparatus includes a structured light camera positioned on a support structure to detect at least a top of a shopping cart in a region adjacent to the mobile automation apparatus. The mobile automation apparatus can include other structured light cameras. Furthermore, one or more ultrasound arrays are used as secondary obstacle detector such that when the one or more ultrasound arrays detect an object, and at least one structured light camera simultaneously does not detect the object, an obstacle avoidance protocol is implemented.