| CPC G05D 1/242 (2024.01) [B66F 9/063 (2013.01); B66F 9/0755 (2013.01); G01S 5/0284 (2013.01); G01S 5/10 (2013.01); G05D 1/0022 (2013.01); G05D 1/0027 (2013.01); G05D 1/0289 (2013.01); G05D 1/24 (2024.01); G05D 1/2437 (2024.01); G05D 1/69 (2024.01); G07C 5/0825 (2013.01); G08G 1/163 (2013.01); H01Q 1/1221 (2013.01); H01Q 5/25 (2015.01); H04B 1/7163 (2013.01); G05D 2105/93 (2024.01); G05D 2107/70 (2024.01)] | 16 Claims |
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1. A relative pose determination system comprising a first materials handling vehicle, and a second materials handling vehicle, each materials handling vehicle comprising a vehicle body and a vehicle position processor, wherein:
the first and second materials handling vehicles are configured to navigate a vehicle transit surface in a warehouse environment;
the first materials handling vehicle comprises a first ultra-wideband (UWB) antenna array mounted to the vehicle body;
the second materials handling vehicle comprises a second UWB antenna array mounted to the vehicle body; and
each vehicle position processor is configured to:
transmit a first UWB signal from the first UWB antenna array of the first materials handling vehicle to the second UWB antenna array of the second materials handling vehicle;
receive the transmitted first UWB signal at the second UWB antenna array of the second materials handling vehicle;
determine a second materials handling vehicle set of information based on the received first UWB signal, the second materials handling vehicle set of information comprising a first angle of arrival (θ1) and first associated timing information based on the first UWB signal received at the second UWB antenna array,
determine a first distance (d1) between the first materials handling vehicle and the second materials handling vehicle based on the transmitted first UWB signal;
transmit a second UWB signal comprising the first angle of arrival (θ1), the first associated timing information, and the determined first distance (d1) from the second UWB antenna array of the second materials handling vehicle to the first UWB antenna array of the first materials handling vehicle;
determine a first materials handling vehicle set of information based on the transmitted second UWB signal, the first materials handling vehicle set of information comprising a second angle of arrival (θ2) and second associated timing information received at the first UWB antenna array;
determine a second distance (d2) between the first materials handling vehicle and the second materials handling vehicle based on the transmitted second UWB signal;
transmit a third UWB signal comprising the second angle of arrival (θ2), the second associated timing information, and the second distance (d2) from the first UWB antenna array of the first materials handling vehicle to the second UWB antenna array of the second materials handling vehicle, such that the first materials handling vehicle and the second materials handling vehicle receive mutual angle of arrival and distance information measured from the other vehicle;
determine a relative pose of each of the first and second materials handling vehicles with respect to each other based on the mutually received angle of arrival and distance information from the second UWB signal and the third UWB signal; and
operate at least one of the first and second materials handling vehicles based on the determined relative pose.
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