A materials handling vehicle comprising a towing vehicle and at least one trailer towed by the towing vehicle, wherein: the towing vehicle comprises a steering mechanism, materials handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool;; the steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface configured to facilitate movement of the materials handling vehicle and materials handled by the materials handling vehicle along a curved travel path in a warehouse towards a destination; characterised in that: a towing configuration of the materials handling vehicle is configured to establish a trailer turning radius r 1 that is smaller than a towing vehicle turning radius r 2 along curved portions of the curved travel path; the obstacle scanning tool comprises obstacle scanning hardware for establishing a scan field and a path filter for establishing a filter field, and is configured to indicate the presence of obstacles in the filter field; and the obstacle scanning tool is configured to execute obstacle scanning logic to use the path filter to establish the filter field such that the area of the filter field is skewed towards the inside edges of turns along the curved travel path to a degree that is sufficient to account for the smaller turning radius r 1 of the trailer and avoid collisions with obstacles along the inside edges of the turns along the curved travel path. a towing vehicle and at least one trailer towed by the towing vehicle, wherein: the towing vehicle comprises a steering mechanism, materials handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool;; the steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface configured to facilitate movement of the materials handling vehicle and materials handled by the materials handling vehicle along a curved travel path in a warehouse towards a destination; the towing vehicle comprises a steering mechanism, materials handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool;; the steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface configured to facilitate movement of the materials handling vehicle and materials handled by the materials handling vehicle along a curved travel path in a warehouse towards a destination; characterised in that: a towing configuration of the materials handling vehicle is configured to establish a trailer turning radius r 1 that is smaller than a towing vehicle turning radius r 2 along curved portions of the curved travel path; the obstacle scanning tool comprises obstacle scanning hardware for establishing a scan field and a path filter for establishing a filter field, and is configured to indicate the presence of obstacles in the filter field; and the obstacle scanning tool is configured to execute obstacle scanning logic to use the path filter to establish the filter field such that the area of the filter field is skewed towards the inside edges of turns along the curved travel path to a degree that is sufficient to account for the smaller turning radius r 1 of the trailer and avoid collisions with obstacles along the inside edges of the turns along the curved travel path. a towing configuration of the materials handling vehicle is configured to establish a trailer turning radius r 1 that is smaller than a towing vehicle turning radius r 2 along curved portions of the curved travel path; the obstacle scanning tool comprises obstacle scanning hardware for establishing a scan field and a path filter for establishing a filter field, and is configured to indicate the presence of obstacles in the filter field; and the obstacle scanning tool is configured to execute obstacle scanning logic to use the path filter to establish the filter field such that the area of the filter field is skewed towards the inside edges of turns along the curved travel path to a degree that is sufficient to account for the smaller turning radius r 1 of the trailer and avoid collisions with obstacles along the inside edges of the turns along the curved travel path.