6. Navigation and Control System
SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation
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6. Navigation and Control System
The navigation and control system allows the robot to complete a series of tasks according
to task instructions. This chapter introduces the process and main components of the robot
navigation and control system.
6.1 System Overview
The navigation and control system controls the robot to navigate to another destination in
the constructed map according to the task instructions issued by the user, or controls the
motor, audio, DO or robot status according to the current status of the robot. Figure 1 shows
the structure of the navigation and control system. The modules designed in the navigation
and control system are as follows:
Global Path Planning
According to the planning of destination point and map file, generate the shortest path to
the destination point, and disassemble the total task into sub-tasks of each section of the
path.
Task Planning
The task planner generates a task queue based on the subtask instructions of current path,
and then the model file information. Then, it calls the path navigation module or the action
execution module.
Local Path Planning
Based on the nature, localization, and sensors of the current path, the robot is controlled to
travel on the current path. If an obstacle is encountered, the robot will report a blockage
error.
Action Planning
Based on the action instruction and sensor information, the robot mechanism is controlled
to perform a specified action.
Localization
The localization module provides the robot with real-time accurate location information in
different environments based on laser SLAM navigation, or QR code navigation, or odometer
navigation, or magnetic stripe.
Sensors
Various sensors (accelerometer, gyroscope, encoder, 3D camera, infrared sensor, and DI
signal sensor etc.) provide real-time status query for the robot. This information can be used
for arrival judgment, obstacle judgment, and deceleration judgment etc.
Actuators
The actuators include motors, audio, DO, and the robot’s own state, etc., and finally realize
the robot’s response to task instructions.
