9. Navigation and guidance system
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 102
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The robot must be able to detect the static landmarks that are marked on the
map to be able to approximate its current position. Make sure there are not
too many dynamic obstacles around the robot so that it cannot detect any
static landmarks.
Cannot detect any static
landmarks
Can detect enough static
landmarks
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The robot does not compare the laser scanner data with the entire map, but
only around the area that it expects to be close to based on the IMU and
encoder data and its initial position. This is why it is important that the initial
position you place the robot at on the map is accurate.
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The robot can drive for a short distance without being correctly localized. As it
drives, the estimated positions should converge to a small area, indicating the
robot has determined an accurate estimate. If this does not occur within a set
time limit, the robot reports a localization error.
9.7 Motor controller and motors
The robot keeps adjusting how much power is sent to each motor based on
sensory input.This means that the robot can correct its speed when going up
slopes or when carrying a heavier payload, and it can change its driving direction
to avoid moving obstacles.
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