11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 151
Highly dynamic areas
A highly dynamic area is an area where objects are moved frequently. This could
be a production area where pallets and boxes are often moved back and forth.
Issue: The robot will stop if a person steps out in front of it. In a transient work
flow area, the robot will stop and reassess its paths many times a day, thereby
wasting valuable time.
Solution: Mark highly dynamic areas on the map with Unpreferred zones (blue)
or Forbidden zones (red) depending on the environment. Directional zones can
also be used here to guide the robot in a specific direction.
If the robot has trouble with localization in a highly dynamic area, place some
static objects with three meters of distance between them and mark them as
walls on the map. Remove the 'walls' created from dynamic obstacles in the area.
Static objects make it easier for the robot to localize and navigate the area.
Figure 11.4. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve
issues with replanning of paths.
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