5. Commissioning
MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 96
Solution: Mark highly dynamic areas on the map with for example Unpreferred zones or
Forbidden zones, depending on the environment. Directional zones can also be used here
to guide the robot in a specific direction.
Figure 5.4. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues with
re-planning of paths.
Doorways and ramps
Going through narrow doorways can cause problems for the robot or for the people working
near the robot, as they might not see the robot coming. Going up a ramp can cause similar
problems because of the upwards angle.
Issue: The robot stops because a narrow doorway is seen as an obstacle. Due to sensor input,
the robot will not plan a path through a narrow doorway if it has an alternative path. The
robot will always stop if a person steps out in front of it.
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