Chapter 4: Configuration
Map Creation and Editing
You use the MobilePlanner software to create and then edit your workspace map. You can add
virtual elements to the map that modify the behavior of an AMR. Examples of virtual ele-
ments include:
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Forbidden lines and zones—Areas in the workspace where an AMR cannot enter or
move across.
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Speed zones—Areas where an AMR must travel within a specified speed range.
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Preferred lines—Paths that you specify on the map which the AMR must consider
when planning the most efficient path to follow autonomously to its goal.
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Preferred-direction zones—Areas where the AMR will prefer to travel in a specified dir-
ection. In a typical preferred direction zone (such as a narrow hallway) there is an
opposite direction that you want the AMR to avoid. Use a preferred-direction zone to
keep the AMRto the preferred side of a hallway. The AMRis able to travel on the altern-
ate side of the zone if the preferred side is blocked.
Regardless of the constraint specified by any virtual element on the map, the AMR always
operates according to its safety protocols. For example, when following a preferred line the
AMR still responds to, and avoids, dynamic obstacles.
Maps contain a variety of goals, routes, and tasks that comprise the destinations and activities
of the AMR in the workspace. Refer to the Fleet Operations Workspace Core User's Guide for
information about editing a map.
Mapping Tasks
Mapping includes the following tasks:
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Consider installing the docking station before you create a map file. This helps you to
place the dock goals when you edit and customize the map.
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Drive the LD-250 with the joystick to make a workspace scan. We recommend that you
drive it to and position it onto its automated docking station to prepare for the next
steps.
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Load that workspace scan into the MobilePlanner software on your PC to create and
edit a digitized map.
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Add job-related features such as routes, goals, and docks to your map. For example in
MobilePlanner, you click Working With Map Files and then Editing a Map File. In the
editing section, click Using the Drawing Tools and then Adding Goals and Docks.
See the Fleet Operations Workspace Core User's Guide for more information.
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Transfer the working map to the Fleet Manager, or back to the LD-250, if you have only
one AMR, to perform autonomous mobile actions.
The Fleet Manager automatically downloads the new map to each AMR in your fleet as
soon as the AMR becomes idle.
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Save map collections and deploy your AMR in any of your workspaces by selecting the
appropriate map file.
20472-000 Rev B LD-250 Platform User's Guide 73
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