9. Commissioning
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 108
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 3 m 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 9.8. Unpreferred zones (marked with purple) can be used in highly dynamic areas to solve issues with
replanning of paths.
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