# US 11,077,551 B2 · Modular mobility base for a modular autonomous logistics vehicle transport apparatus

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- Number: US 11,077,551 B2
- Document ID: US11077551B2
- Status: Granted
- Kind: B2
- Application number: 16/351,566
- Filed: 2019-03-13
- Published: 2019-09-19
- Granted: 2021-08-03
- Earliest claimed: 2018-03-14
- Assignees: Fedex Corporate Services, Inc.
- Applicants: Fedex Corporate Services, Inc.
- Inventors: Ole-Petter Skaaksrud; Frank Mayfield; Daniel Gates
- Web page: https://patentgrep.com/patent/US11077551B2

## CPC

- G07C 9/27: with central registration
- B25J 5/007: {mounted on wheels}
- B25J 9/08: characterised by modular constructions
- B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it}
- B25J 9/163: {learning, adaptive, model based, rule based expert control}
- B25J 9/1666: {Avoiding collision or forbidden zones}
- B25J 9/1679: {characterised by the tasks executed}
- B25J 19/02: Sensing devices
- B60C 5/005: {Ballast tyres}
- B60G 17/0152: {characterised by the action on a particular type of suspension unit (B60G17/01941 takes precedence)}
- B60P 3/007: {for delivery of small articles, e.g. milk, frozen articles}
- B60Q 5/005: {automatically actuated}
- B60W 10/04: including control of propulsion units
- B60W 10/20: including control of steering systems
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B65D 88/524: {and one or more side walls being foldable along an additional median line}
- B65D 90/023: {Modular panels}
- B65D 90/08: Interconnections of wall parts; Sealing means therefor
- B65D 90/18: Castors, rolls, or the like; e.g. detachable (castors in general B60B)
- B65G 1/1373: {for fulfilling orders in warehouses}
- B65G 67/24: Unloading land vehicles
- G01C 21/3438: {Rendezvous; Ride sharing}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0011: {associated with a remote control arrangement}
- G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)}
- G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)}
- G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)}
- G05D 1/0282: {generated in a local control room}
- G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)}
- G05D 1/0291: {Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127)}
- G05D 1/0295: {by at least one leading vehicle of the fleet}
- G05D 1/223: Command input arrangements on the remote controller, e.g. joysticks or touch screens
- G05D 1/225: operated by off-board computers
- G05D 1/226: Communication links with the remote-control arrangements
- G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements
- G05D 1/229: Command input data, e.g. waypoints
- G05D 1/245: using dead reckoning
- G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM]
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D 1/43: Control of position or course in two dimensions [2D]
- G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80)
- G05D 1/65: Following a desired speed profile
- G05D 1/661: Docking at a base station (delivering or retrieving payloads G05D1/667)
- G05D 1/69: Coordinated control of the position or course of two or more vehicles
- G05D 1/692: involving a plurality of disparate vehicles
- G05D 1/695: for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight
- G06F 21/31: User authentication
- G06F 21/32: using biometric data, e.g. fingerprints, iris scans or voiceprints
- G06Q 10/083: Shipping
- G06Q 10/0832: Special goods or special handling procedures, e.g. handling of hazardous or fragile goods
- G06Q 10/0833: Tracking
- G06Q 10/0836: Recipient pick-ups
- G06Q 10/0837: Return transactions
- G06Q 10/0838: {Historical data}
- G06Q 10/0875: Itemisation or classification of parts, supplies or services, e.g. bill of materials
- G06Q 30/0633: {Managing shopping lists, e.g. compiling or processing purchase lists (shipping orders G06Q10/083; order filling G06Q10/087)}
- G07C 9/00182: {operated with unidirectional data transmission between data carrier and locks}
- G07C 9/00563: {using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns}
- G07C 9/00571: {operated by interacting with a central unit}
- G07C 9/00857: {where the code of the data carrier can be programmed}
- G07C 9/37: using biometric data, e.g. fingerprints, iris scans or voice recognition
- G08G 1/202: {Dispatching vehicles on the basis of a location, e.g. taxi dispatching}
- G16H 40/20: for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
- G16H 40/67: for remote operation
- H02J 9/00: Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H04B 1/3822: specially adapted for use in vehicles (H04B1/3827 takes precedence)
- H04W 52/322: {Power control of broadcast channels}
- B60G 2300/02: Trucks; Load vehicles
- B60G 2400/252: vertical
- B60G 2500/30: Height or ground clearance
- B60G 2800/019: Inclination due to load distribution or road gradient
- B60W 2554/00: Input parameters relating to objects
- G05B 2219/39172: Vehicle, coordination between manipulator arm and its moving vehicle
- G05B 2219/50391: Robot
- G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G07C 2009/0092: {for cargo, freight or shipping containers and applications therefore in general}
- H04W 84/20: Leader-follower arrangements
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B60C: VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00})
- B60P: VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS (vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00)
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B65D: CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H04B: TRANSMISSION
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A modular mobility base for a modular autonomous bot apparatus transporting an item being shipped including a mobile base platform, a component alignment interface, a mobility controller, a propulsion and steering system, and sensors. The component alignment interface provides an alignment channel into which another modular component can be placed and secured on the platform. The mobility controller generates propulsion control signals for controlling speed of the modular mobility base and steering control signals for navigation of the modular mobility base. The propulsion system is connected to the platform and responsive to the propulsion control signal. The steering system is connected to the mobile base platform and is responsive to the steering control signal to cause changes to directional movement of the modular mobility base. The sensors are disposed on the platform provide feedback sensor data to the mobility controller about a condition of the modular mobility base.

## Claims

### Claim 1

A modular mobility base for a modular autonomous bot apparatus that transports an item being shipped, the modular mobility base comprising:
a mobile base platform;
a modular component alignment interface disposed on the mobile base platform, the modular alignment interface providing at least one channel into which another modular component of the modular autonomous bot apparatus can be placed and secured on the mobile base platform;
a mobility controller disposed as part of the mobile base platform, the mobility controller being operative to generate a propulsion control signal for controlling speed of the modular mobility base and a steering control signal for controlling navigation of the modular mobility base;
a propulsion system connected to the mobile base platform, the propulsion system being responsive to the propulsion control signal from the mobility controller and operative to cause changes to the speed of the modular mobility base;
a steering system connected to the mobile base platform and coupled to the propulsion system, the steering system being responsive to the steering control signal from the mobility controller and operative to cause changes to directional movement of the modular mobility base; and
a plurality of sensors coupled to the mobility controller, wherein each of the sensors being disposed on the mobile base platform, wherein the sensors being operative to autonomously generate and provide feedback sensor data to the mobility controller about a condition of the modular mobility base.

### Claim 2 (depends on 1)

The modular mobility base of claim 1, wherein the mobile base platform comprises:
a support base having the modular alignment interface and the sensors, the support base comprising at least (a) a top support surface on which the modular alignment interface is disposed and (b) a plurality of peripheral edges on which the sensors are disposed; and
a set of wheels coupled to the support base, wherein at least a first portion of the set of wheels being further coupled to the propulsion system and wherein at least a second portion of the set of wheels being further coupled to the steering system.

### Claim 3 (depends on 2)

The modular mobility base of claim 2, wherein the set of wheels comprises a set of tracks.

### Claim 4 (depends on 2)

The modular mobility base of claim 2, wherein the mobile base platform further comprises a selectively adjustable suspension system that couples the set of wheels to the support base, the selectively adjustable suspension system activating to change an oriented configuration of the support base relative to the set of wheels from a first orientation state to a second orientation state in response to a support base orientation control signal from the mobility controller.

### Claim 5 (depends on 4)

The modular mobility base of claim 4, wherein the oriented configuration of the support base comprises a lifted attitude orientation.

### Claim 6 (depends on 4)

The modular mobility base of claim 4, wherein the oriented configuration of the support base comprises a tilted attitude orientation.

### Claim 7 (depends on 4)

The modular mobility base of claim 4, wherein the oriented configuration of the support base comprises a combination lift and tilt attitude orientation.

### Claim 8 (depends on 4)

The modular mobility base of claim 4, wherein the selectively adjustable suspension system comprises a plurality of actuators individually responsive to one of a plurality of actuator control signals as part of the support base orientation control signal from the mobility controller.

### Claim 9 (depends on 4)

The modular mobility base of claim 4, wherein the mobility controller generates the support base orientation control signal to cause the selectively adjustable suspension system to activate and change the oriented configuration of the support base relative to the set of wheels from the first orientation state to the second orientation state based upon and in response to feedback sensor data from at least one of the sensors.

### Claim 10 (depends on 4)

The modular mobility base of claim 4, wherein the mobility controller generates the support base orientation control signal to cause the selectively adjustable suspension system to activate and change the oriented configuration of the support base relative to the set of wheels from the first orientation state to the second orientation state based upon and in response to a control command from the another modular component of the modular autonomous bot apparatus.

### Claim 11 (depends on 4)

The modular mobility base of claim 4 further comprising a wireless transceiver operatively coupled to the mobility controller, the wireless transceiver providing a bi-directional wireless data path between the mobility controller and an external wireless node disposed external to the modular autonomous bot apparatus; and
wherein the mobility controller generates the support base orientation control signal to cause the selectively adjustable suspension system to activate and change the oriented configuration of the support base relative to the set of wheels from the first orientation state to the second orientation state based upon and in response to a wireless control command from the external wireless node disposed external to the modular autonomous bot apparatus.

### Claim 12 (depends on 2)

The modular mobility base of claim 2, wherein the modular component alignment interface comprises:
a registration interface disposed on the top support surface of the mobile base platform as the at least one channel into which the another modular component of the modular autonomous bot apparatus can be placed and secured on the mobile base platform; and
a coupling receiver disposed on the top support surface of the mobile base platform, the coupling receiver providing a secure receiving latch element for a mated coupling latch element on the another modular component of the modular autonomous bot apparatus, wherein the secure receiving latch element being operative to temporarily attach to the mated coupling latch element on the another modular component of the modular autonomous bot apparatus.

### Claim 13 (depends on 12)

The modular mobility base of claim 12, wherein the registration interface comprises a plurality of raised alignment channels.

### Claim 14 (depends on 12)

The modular mobility base of claim 12, wherein the registration interface comprises a plurality of recessed alignment channels.

### Claim 15 (depends on 12)

The modular mobility base of claim 12, wherein the registration interface comprises a plurality of alignment channels where each of the alignment channels are disposed proximate one of the peripheral edges of the support base.

### Claim 16 (depends on 12)

The module mobility base of claim 12, wherein the secure receiving latch element comprises an interlocking latch element for a mated interlocking coupling latch element on the another modular component of the modular autonomous bot apparatus.

### Claim 17 (depends on 12)

The modular mobility base of claim 12, wherein the modular component alignment interface further comprising a modular component electronics interface disposed on the top support surface of the mobile base platform, the modular component electronics interface being operatively coupled to the mobility controller as a power and data mated interface to at least the another modular component of the modular autonomous bot apparatus.

### Claim 18 (depends on 17)

The modular mobility base of claim 17 further comprising an onboard power source that supplies electrical power to at least the mobility controller, the propulsion system, the steering system, and the sensors; and
wherein the power and data mated interface is operatively connected to the onboard power source, the power and data mated interface further including a power output connection that provides electrical power to the another modular component of the modular autonomous bot apparatus.

### Claim 19 (depends on 18)

The modular mobility base of claim 18 further comprising an onboard power controller that selectively applies the electrical power to at least the mobility controller, the propulsion system, the steering system, and the sensors from the one of the onboard power source, from an external power source, and both the onboard power source and the external power source; and
wherein the power and data mated interface further including a power input connection that receives externally supplied electrical power from the external power source.

### Claim 20 (depends on 12)

The modular mobility base of claim 12, wherein the modular component electronics interface comprising a modular mated bus interface connection for relaying feedback sensor data from the sensors coupled to the mobility controller and for receiving control commands that responsively causes the mobility controller to generate the propulsion control signal and the steering control signal.

### Claim 21 (depends on 2)

The modular mobility base of claim 2, wherein the propulsion system comprises at least one motor coupled to at least one in the set of wheels, the motor being responsive to the propulsion control signal from the mobility controller to alter rotation of the at least one in the set of wheels.

### Claim 22 (depends on 2)

The modular mobility base of claim 2, wherein the propulsion system comprises a set of motors coupled to respective ones in the set of wheels, the set of motors being responsive to the propulsion control signal from the mobility controller to alter rotation of each of wheels in the set of wheels.

### Claim 23 (depends on 2)

The modular mobility base of claim 2, wherein the propulsion system comprises a set of motors integrated with respective wheels in the set of wheels, the set of motors integrated with wheels being responsive to the propulsion control signal from the mobility controller to alter rotation of each of wheels in the set of wheels.

### Claim 24 (depends on 1)

The modular mobility base of claim 1, wherein different ones of the sensors are operative to detect a tilt characteristic of the mobile base platform, to detect an environmental characteristic next to the mobile base platform, and to detect a proximity characteristic about what is next to the mobile base platform.

### Claim 25 (depends on 1)

The modular mobility base of claim 1, wherein at least one of the sensors being a proximity sensor operative to autonomously detect an object in a movement path of the modular mobility base and provide proximity sensor data to the mobility controller on the detected object as the feedback sensor data.

### Claim 26 (depends on 25)

The modular mobility base of claim 25, wherein mobility controller is operative to receive the feedback sensor data from at least the proximity sensor and responsively generate a change to at least one of the propulsion control signal and the steering control signal.

### Claim 27 (depends on 1)

The modular mobility base of claim 1 further comprising at least one light disposed on the mobile base platform, wherein the at least one light being focused external to the mobile base platform.

### Claim 28 (depends on 27)

The modular mobility base of claim 27, wherein the at least one light comprises a multi-spectral light providing multi-spectral visibility to facilitate sensor detection by at least one of the sensors.

### Claim 29 (depends on 1)

The modular mobility base of claim 1 further comprising a wireless transceiver operatively coupled to the mobility controller, the wireless transceiver providing a bi-directional wireless data path between the mobility controller and at least the another modular component of the modular autonomous bot apparatus.

### Claim 30 (depends on 1)

The modular mobility base of claim 1 further comprising a wireless transceiver operatively coupled to the mobility controller, the wireless transceiver providing a bi-directional wireless data path between the mobility controller and an external wireless node disposed external to the modular autonomous bot apparatus.

### Claim 31 (depends on 17)

The modular mobility base of claim 17 further comprising a wireless transceiver operatively coupled to the mobility controller, the wireless transceiver providing a bi-directional wireless data path for the mobility controller and at least the another modular component of the modular autonomous bot apparatus.

### Claim 32 (depends on 29)

The modular mobility base of claim 29, wherein the wireless transceiver providing the bi-directional wireless data path between the mobility controller and the another modular component of the modular autonomous bot apparatus to enable remote wireless control of the modular mobility base by the another modular component of the modular autonomous bot apparatus.

### Claim 33 (depends on 30)

The modular mobility base of claim 30, wherein the wireless transceiver providing the bi-directional wireless data path between the mobility controller and the external wireless node disposed external to the modular autonomous bot apparatus to enable remote wireless control of the modular mobility base by the external wireless node.

### Claim 34

A modular mobility base for a modular autonomous bot apparatus that transports an item being shipped, the modular mobility base comprising:
a selectively adjustable mobile base platform comprising
a support base having a top support surface,
a plurality of peripheral edges on the support base,
a wheelbase frame,
a set of motorized wheels coupled to the wheelbase frame, the motorized set of wheels operating as a propulsion system for the modular mobility base,
a selectively adjustable suspension system coupling the wheelbase frame to the support base, the selectively adjustable suspension system activating to change an oriented configuration of the support base relative to the wheelbase frame from a first orientation state to a second orientation state in response to a support base orientation control signal from the mobility controller;
a modular component alignment interface disposed on the selectively adjustable mobile base platform, the modular alignment interface comprising
at least one alignment channel into which another modular component of the modular autonomous bot apparatus can be placed and secured on the selectively adjustable mobile base platform;
a coupling receiver disposed on the top support surface of the selectively adjustable mobile base platform, the coupling receiver providing a secure interlocking receiving latch element for a mated interlocking coupling latch element on the another modular component of the modular autonomous bot apparatus, wherein the secure interlocking receiving latch element being operative to temporarily attach to the mated interlocking coupling latch element on the another modular component of the modular autonomous bot apparatus;
a mobility controller disposed as part of the selectively adjustable mobile base platform, the mobility controller being operative to generate a propulsion control signal for controlling speed of the modular mobility base and a steering control signal for controlling navigation of the modular mobility base;
a plurality of sensors coupled to the mobility controller, wherein each of the sensors being disposed on the selectively adjustable mobile base platform, wherein the sensors being operative to autonomously generate and provide feedback sensor data to the mobility controller about a condition of the modular mobility base; and
a steering system connected to the selectively adjustable mobile base platform and coupled to the propulsion system, the steering system being responsive to the steering control signal from the mobility controller and operative to cause changes to directional movement of the modular mobility base; and
wherein the set of motorized wheels is responsive to the propulsion control signal from the mobility controller and operative to cause changes to the speed of the modular mobility base.