9. Navigation and guidance system
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 85
9. Navigation and guidance system
The navigation and guidance system is responsible for driving the robot to a goal
position while avoiding obstacles. This section describes the processes and
components involved in the robot's navigation and guidance system.
9.1 System overview
The purpose of the navigation and guidance system is to guide the robot from
one position on a map to another position. The user provides the map and
chooses the goal position the robot must move to. The diagram in Figure 9.1
describes the processes in the system.
The main processes involved in the navigation and guidance system are:
•
Global planner
The navigation process starts with the global planner determining the best
path for the robot to get from its current position to the goal position. It plans
the route to avoid walls and structures on the map.
•
Local planner
While the robot is following the path made by the global planner, the local
planner continuously guides the robot around detected obstacles that are not
included on the map.
•
Obstacle detection
The safety laser scanners, 3D cameras, and proximity sensors are used to
detect obstacles in the work environment. These are used to prevent the robot
from colliding with obstacles.
•
Localization
This process determines the robot's current position on the map based on
input from the motor encoders, inertial measurement unit(IMU), and safety
laser scanners.
•
Motor controller and motors
The motor controller determines how much power each motor must receive to
drive the robot along the intended path safely. Once the robot reaches the
goal position, the brakes are engaged to stop the robot.
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