A materials handling vehicle (10, 10') comprising a vehicle body, materials handling hardware (15, 15'), one or more wheels, a drive unit, a steering unit, a localization module, a navigation module, and a path validation tool, wherein: the drive unit, steering unit, localization module, and navigation module cooperate to direct the materials handling vehicle along a travel path in a warehouse; the path validation tool comprises environmental layout data of the warehouse, a proposed travel path within the warehouse, kinematics of the materials handling vehicle, and a dynamic vehicle boundary of the materials handling vehicle; the path validation tool is configured to execute path validation logic to (i) determine vehicle pose along the proposed travel path, (ii) update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, (iii) determine whether the dynamic vehicle boundary of the vehicle is likely to intersect obstacles represented in the environmental layout data based on the determined vehicle pose at candidate positions along the proposed travel path, (iv) determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary of the materials handling vehicle and obstacle data represented in the environmental layout data, and (v) modify the proposed travel path to mitigate the degree of potential impingement; and the drive unit, steering unit, localization module, and navigation module cooperate to direct the materials handling vehicle along the modified proposed travel path, characterized in that the materials handling vehicle (10, 10') comprises a tugger and one or more trailers coupled to the tugger, and also wherein i) the dynamic vehicle boundary approximates a physical periphery of the tugger of the materials handling vehicle (10, 10'), and the obstacles comprise a trailer of the one or more trailers coupled to the tugger; or ii) the dynamic vehicle boundary approximates a physical periphery of a trailer of the one or more trailers of the materials handling vehicle, and the obstacles comprise another trailer of the one or more trailers coupled to the trailer. the drive unit, steering unit, localization module, and navigation module cooperate to direct the materials handling vehicle along a travel path in a warehouse; the path validation tool comprises environmental layout data of the warehouse, a proposed travel path within the warehouse, kinematics of the materials handling vehicle, and a dynamic vehicle boundary of the materials handling vehicle; the path validation tool is configured to execute path validation logic to (i) determine vehicle pose along the proposed travel path, (ii) update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, (iii) determine whether the dynamic vehicle boundary of the vehicle is likely to intersect obstacles represented in the environmental layout data based on the determined vehicle pose at candidate positions along the proposed travel path, (iv) determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary of the materials handling vehicle and obstacle data represented in the environmental layout data, and (v) modify the proposed travel path to mitigate the degree of potential impingement; and (i) determine vehicle pose along the proposed travel path, (ii) update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, (iii) determine whether the dynamic vehicle boundary of the vehicle is likely to intersect obstacles represented in the environmental layout data based on the determined vehicle pose at candidate positions along the proposed travel path, (iv) determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary of the materials handling vehicle and obstacle data represented in the environmental layout data, and (v) modify the proposed travel path to mitigate the degree of potential impingement; and the drive unit, steering unit, localization module, and navigation module cooperate to direct the materials handling vehicle along the modified proposed travel path, i) the dynamic vehicle boundary approximates a physical periphery of the tugger of the materials handling vehicle (10, 10'), and the obstacles comprise a trailer of the one or more trailers coupled to the tugger; or ii) the dynamic vehicle boundary approximates a physical periphery of a trailer of the one or more trailers of the materials handling vehicle, and the obstacles comprise another trailer of the one or more trailers coupled to the trailer.