Chapter 7: Operation
Driven off Ledge Driven Over Excessive Gap
Platform Stuck Under Overhang AIV Option Stuck Under Overhang
Figure 7-1. Examples of the Platform or AIV Getting Stuck
7.2 Typical Operation
During normal startup, the platform powers all its onboard systems
1
and runs its onboard soft-
ware and your integrated processes automatically to provide an application-ready AIV. If it
has been given a map of its workspace and knows where it is within that environment (loc-
alized), your AIV is ready to perform on start-up and operate autonomously, without human
intervention.
Paths are not pre-programmed, but instead are generated dynamically onboard the platform.
Paths are updated many times per second to maintain a smooth trajectory and to account for
any obstacles that are detected by the onboard sensors. Navigational parameters are stored
onboard the platform, and can be viewed and modified using the MobilePlanner software,
which is covered in the Mobile Robot Software Suite User's Guide.
The MobilePlanner application, running on your computer, configures the many high-level
operating characteristics of the platform, including speeds and accelerations, sensor safety
zones, minimum battery level allowed before docking for recharging, which map to use, and
many other parameters. The MobilePlanner software typically communicates with the plat-
form over the wireless network. A direct connection, through the Maintenance Ethernet port on
the platform, is also possible.
CAUTION: Protect the MobilePlanner Operator Mode with user ID and pass-
word access, to prevent unauthorized operation of an AIV.
1
As configured either by the factory or through your own parameter changes.
11970-000 Rev H1 LD Platform OEM User's Guide 81
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