7. Navigation and control system
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 76
• To improve the robot's localization, it can often help to divide long continuous walls on
the map. Even if the walls are connected in the actual work environment, it can help the
localization process if the walls on the map are divided into smaller sections.
Undivided walls Divided walls
• The robot does not compare the laser scanner data with the entire map, but only around
the area that it expects to be close to based on the IMU and encoder data and its initial
position. This is why it is important that the initial position you place the robot at on the
map is accurate.
• The robot can drive for a short distance without being correctly localized. As it drives, the
estimated positions should converge to a small area, indicating the robot has determined
an accurate estimate. If this does not occur within a set time limit, the robot reports a
localization error.
7.7 Motor controller and motors
The robot keeps adjusting how much power is sent to each motor based on sensory
input.This means the robot can correct its speed when going up slopes or when carrying a
heavier payload, and it can change its driving direction to avoid moving obstacles.
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