9. Commissioning
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 109
Doorways
Going through narrow doorways can cause problems for the robot's global planner since the
robot must drive closer to wall edges than it usually would. It can also be hazardous for the
people working near the robot, as they might not see the robot coming.
Issue: The robot does not plan its global path through narrow doorways, since this will bring
the robot too close to a known obstacle.
Solution: Add a Critical zone (orange) in the narrow doorway to enable the global planner to
make a path through the corridor. You only need to place the zone down the center of the
doorway so the center of the robot is in the zone. Add Sound and light zones (yellow) in
narrow doorways to warn people near the doorway that the robot is coming through.
Figure 9.9. Narrow doorways can be marked with a Sound and light zone (marked with yellow) to warn people
that a robot is coming through. A Critical zone (orange) can be placed in the narrow doorway to force the global
planner to make a path through the corridor.
Shelves
Shelves are often placed in a certain height above the floor on four (or more) posts and will
often appear as dots on a map for the robot. This may cause the robot to believe that there
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