9. Navigation and guidance system
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 84
Figure 9.6. The local planner usually follows the global planner, but as soon as an obstacle gets in the way, the
local planner determines which immediate path will get the robot around the obstacle. In this case, it will likely
choose the path indicated with a green arrow.
Once the local path is determined, the robot computer derives the desired rotational
velocity of each drive wheel to make the robot follow the local path and sends the desired
velocities for each motor to the motor controllers—see Motor controller and motors on
page94.
9.5 Obstacle detection
The robot detects obstacles continuously while driving. This enables the robot to use the
local planner to drive around obstacles and to determine the robot's current position on the
map.
Three sensor types are responsible for detecting obstacles:
• The safety laser scanners
• The 3D cameras
• The proximity sensors
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