MIR 600 - Navigation and Guidance System

9. Navigation and guidance system
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 79
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 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.