10. Navigation and guidance system
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 101
10. 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.
10.1 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 10.1 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.
Each part of the process is described in greater detail in the following sections.
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