Transport robot and method and system for operating a transport robot in a warehouse

A transport robot to carry out transport orders for transport of goods in a warehouse with a plurality of transport robots, the transport robot comprising:

• a communication interface configured to receive an environment model of the warehouse and a capability model of the plurality of transport robots in the warehouse, wherein the environment model of the warehouse defines a plurality of key points of the warehouse and, for each key point, at least one neighboring key point, and wherein the capability model defines for each of the key points of the environment model, movement sequence data comprising at least one trajectory for an automated movement to the at least one neighboring key point;
• and
• a control unit to carry out a transport order from a starting key point to a destination key point of the plurality of key points, and configured to control movement of the transport robot on the basis of the environment model and first movement sequence data comprising a first trajectory and at least second movement sequence data comprising at least a second trajectory of the capability model, wherein the first movement sequence data comprising the first trajectory defines a movement from the starting key point to an intermediate key point neighboring the starting key point, and wherein the at least second movement sequence data comprising the at least one second trajectory defines a movement from the intermediate key point to a destination key point or a movement from the intermediate key point to an additional intermediate key point neighboring the intermediate key point
• wherein the control unit is further configured, after movement of the transport robot from the starting key point to the intermediate key point on the basis of a first movement sequence data comprising the first trajectory, to determine a deviation of a current position or current pose from a specified position or specified pose of the transport robot relative to the intermediate key point and to vary the movement of the transport robot from the intermediate key point to the destination key point or the additional intermediate key point neighboring the intermediate key point on the basis of the second movement sequence data comprising the at least one second trajectory to counteract the deviation.