"It looked like serious commotion because one of the cops looked like she was about to draw (her gun)," witness Brandon Daniels told WFLA.
When deputies attempted to speak with Hudson, he accelerated the golf cart and drove away from them. Surveillance video then shows Hudson driving into the main entrance to the store, forcing shoppers and workers to jump away, the television station reported.
Hudson was injured and taken to an area hospital, Bay News 9 reported. He was arrested and booked into the Hillsborough County Jail later Thursday, according to an arrest report. Hudson remains in jail in lieu of a $5,500 bond, according to jail records.
Several customers were injured and received medical attention at the scene by Hillsborough County Fire Rescue, WTVT reported.
The incident occurred less than a week after another man called in a threat to the same store in Gibsonton because he was "intrigued" by last weekend's mass shootings in Texas and Ohio.
On Sunday, Wayne Lee Padgett, 31, of Valrico, was charged with one felony count of making a false report of using a firearm in a violent manner after he allegedly called in a threat to the same Walmart, according to the Hillsborough County Sheriff's Office.
Shoppers were evacuated as deputies investigated the threat.