8. Navigation and control system
MiR250 User Guide (en) 07/2020 - v.1.2 ©Copyright 2020: Mobile Industrial Robots A/S. 71
Once the local path is determined, the robot computer derives a desired velocity, and
acceleration that it sends to the motor controller—see Motor controller and motors on
page79.
8.5 Obstacle detection
The robot continuously detects obstacles while driving. This enables it to use the local
planner to drive around the obstacles and to determine its current position on the map.
There are three sensors that are responsible for detecting obstacles:
• The safety laser scanners
• The 3D cameras
• The proximity sensors
The following illustrations show how the robot sees the surrounding environment and how it
is portrayed in the robot interface.
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