9. Navigation and control system
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
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9.4 Local planner
The local planner is used continuously while the robot is driving to guide it around obstacles
while still following the global path.
Figure 9.5. The global path is indicated with the dotted blue line and is visible on the map. The local path is
indicated with the blue arrow, showing the robot driving around a dynamic obstacle.
Whereas the global planner creates a single path from start to finish, the local planner
continues to create new paths that adapt to the current position of the robot and the
obstacles around it. The local planner only processes the area that is immediately
surrounding the robot, using input from the robot sensors to avoid obstacles.
The local path is not displayed in the robot interface. The arrows in the images
here are visual aids used in this guide only.
