12. Commissioning
MiR250 Hook User Guide (en) 01/2023 - v.1.2 ©Copyright 2021-2023: Mobile Industrial Robots A/S. 153
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 12.7 Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues
with replanning of paths.
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