| CPC G05D 1/0234 (2013.01) [B60W 60/00256 (2020.02); G05D 1/0088 (2013.01); G05D 1/0221 (2013.01); G05D 1/0274 (2013.01); G05D 2201/0216 (2013.01)] | 16 Claims |
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1. A method for traversing a planned path in a marked facility, the method comprising:
receiving, by a transport vehicle from a control server that is configured to communicate with a plurality of transport vehicles, a transit instruction instructing the transport vehicle to traverse the planned path, wherein the transit instruction includes details of at least first and second location markers including at least an estimated distance between the first and second location markers;
transiting, by a transport vehicle from among the plurality of transport vehicles, from a first location in the marked facility to a second location in the marked facility for traversing the planned path, wherein the first and second locations are indicated by the first and second location markers, respectively;
recording, by the transport vehicle, a movement pattern thereof while transiting from the first location to the second location, wherein the recorded movement pattern includes an angular alignment of the transport vehicle with respect to the first location marker at a plurality of time instances while the transport vehicle is transiting from the first location to the second location;
determining that a distance traversed by the transport vehicle exceeds or equals the estimated distance and failing to detect the second location marker at the second location;
halting, by the transport vehicle, at a current location based on the failure to detect the second location marker at the second location after the transport vehicle determines that the distance traversed by the transport vehicle exceeds or equals the estimated distance;
the transport vehicle adjusts its angular alignment to orient itself toward the first location marker and retracing a first path traversed to reach the current location from the first location based on the recorded movement pattern, wherein on reaching the first location, the transport vehicle re-attempts to transit from the first location to the second location;
communicating, by the transport vehicle to the control server, an error notification after the transport vehicle reaches a threshold number of failures to detect the second location marker; and
identifying, by the control server, the second location marker to be damaged in response to receiving the error notification communicated by the transport vehicle.
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