MIR 1350 - Robot Localization Process

9. Navigation and guidance system
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 99
NOTICE
Because proximity sensor data is not intended to be used while the
robot is driving, there is a risk that the robot may still collide with low
objects when reversing, turning, or pivoting. Collision with objects
may damage the robot or other assets or lead to interruption of
operation.
•
Inform relevant personnel that the robot cannot detect lowered
forklift forks while operating, and that personnel must not park
forklifts in the robot's operating area.
•
Keep the operating area of the robot clear of unnecessary objects.
The proximity sensors have the following limitations:
•
They do not have a long range and are mainly used to detect obstacles placed
near the robot while it is standing still and begins driving.
•
They only detect low obstacles around the corners of the robot.
•
When the robot is driving, obstacles detected by the proximity sensors are too
close for the robot to stop or avoid. The robot relies on the laser scanners and
3D cameras to detect obstacles while it is driving.
•
The effectiveness of the proximity sensors may be influenced by the shape,
material, reflectivity, and color of obstacles.
9.6 Localization
The goal of the localization process is for the robot to determine where it is
currently located on its map. The robot has three inputs for determining where it
is:
•
The initial position of the robot. This is used as a reference point for the
methods used to determine the robot position.
•
The IMUand encoder data. This is used to determine how far and fast the
robot has traveled from the initial position.