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Bot having high speed stability

  • US 9,423,796 B2
  • Filed: 02/23/2015
  • Issued: 08/23/2016
  • Est. Priority Date: 12/15/2010
  • Status: Active Grant
First Claim
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1. An autonomous transport vehicle for transporting items in a storage and retrieval system, the autonomous transport vehicle comprising:

  • at least two drive wheels, each drive wheel being independently driven;

    a drive wheel encoder disposed adjacent each drive wheel; and

    a controller in communication with the encoders configured to identify a kinematic state of the autonomous transport vehicle within the storage and retrieval system based only on incremental data from the drive wheel encoders, received from each encoder, and independent of drive wheel slippage.

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