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9. Navigation and control system
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S. 86
9.2 User input
To enable the robot to navigate autonomously, you must provide the following:
• A map of the area, either from a .png file or created with the robot using the mapping
function—see
Creating and configuring maps on page 124 .
• A goal destination on that map—see Markers on page 135 .
• The current position of the robot on the map. This usually only needs to be provided when
a new map is activated.
Figure 9.2. On the map, the current position of the robot is identified by the robot icon , and the goal
destination in this example is the robot position . The robot computer now determines a path from the
current position to the goal position.
Once the robot computer has a map with the robot's current position and a goal destination,
it begins planning a route between the two positions on the map using the global planner.
9.3 Global planner
The global planner is an algorithm in the robot computer that generates a path to the goal
position. This path is known as the global path.