Date: 2024-09-04

Document version: 2.0

Valid for: All MiR robots

Valid for software version: 2.x and 3.x

In some cases, you may want your robot to follow its path without it attempting to maneuver around any dynamic obstacles, approximating the way an AGV drives. Setting your robot to deviate from its path within a set distance or not to deviate at all is known as Line-following mode.

There are differences in the Line-following process for software 2.x and 3.x. This guide describes the differences and provides instructions for both versions. Make sure to check during the guide which instructions apply for your software version.

This guide mainly uses screenshots from software 3.x. There are small variations in the interface for software 2.x.

There are three different methods of setting a robot to Line-following mode:

• in Planner settings

• in missions

• in Planner zones

In the following images, the dotted blue line shows the path of the robot. The section of the path where it drives in Line-following mode is highlighted in blue.

In Planner settings When Line-following is enabled in Planner settings, the robot always drives in Line-following mode, unless it drives in a zone or in a mission with other settings. This is useful if the robot must use Line-following in a continuous loop where it is important to drive an exact route.	In missions When Line-following is enabled in missions, the robot only drives in Line-following mode from when the mode is enabled to when it is disabled in a mission. This is useful if the robot must use Line-following when driving between two or more positions.
In Planner zones When Line-following is enabled in Planner zones, the robot only drives in Line-following mode when it is within that zone. This is useful if the robot must drive accurately within a certain area, such as a work cell or tightly confined space.

Parameter configuration

You can set the robot to Line-following mode by modifying three parameters under Planner settings.

These settings can be modified in the system settings, in a Planner settings action, or in a Planner zone.

Strict and semi-strict Line-following

You can set how strictly you want the robot to follow its path, using the parameter Maximum path deviation. Modifying Maximum path deviation to 0 results in strict Line-following where the robot cannot deviate from the path at all. Setting it to any other positive value results in semi-strict Line-following where the entered value defines how many meters from the path the robot can deviate.

Semi-strict Line-following The robot can deviate from the path by the user-set distance in meters to avoid obstacles.

Strict Line-following The robot does not deviate from its path and will wait for the obstacle to move.

Enable Line-following mode in Planner settings

1. Sign in to the robot interface, and go to System > Settings > Planner. This is where you can change the settings for how the robot generates and follows its planned paths.

   

2. Change the parameter Waiting for obstacle to -1.

   

3. Change the parameter Maximum path deviation to the value the robot may deviate from its path.

   1. For strict Line-following, set the value to 0.

   2. For semi-strict Line-following, set the value to the distance in meters the robot may deviate.

      

4. We recommend to change the parameter Obstacle history clearing to Clear all.

   

5. Select Save at the bottom of the page. The robot is now set to drive in Line-following mode always.

Enabling Line-following mode in a mission

1. Sign in to the robot interface, go to Setup > Missions, and either create a new mission or edit an existing mission. To edit an existing mission, select Edit  for the mission you want to modify. To create a new mission, select Create.

   

2. Add two Planner settings actions from the Move menu, and drag them to the point in your mission where you want the robot to begin Line-following. These will be used to modify Maximum path deviation and Waiting for obstacle.

   

3. Edit the first action by selecting Edit , and set the parameters as follows:

   1. Planner settings: Select Waiting for obstacle.

   2. Value: Set to -1.

      

4. Edit the second action by selecting Edit , and set the parameters as follows:

   1. Planner settings: Select Maximum path deviation.

   2. Value: For strict Line-following, set the value to 0. For semi-strict Line-following, set the value to the distance in meters the robot may deviate.

      

5. We recommend adding a third Planner settings action for Obstacle history clearing where the parameters are set as follows:

   1. Planner settings: Select Obstacle history clearing.

   2. Value: Set to Clear all.

      

The robot will now execute all subsequent actions in Line-following mode.

To set the robot back to its standard operating mode within a mission, insert the same number of Planner settings actions that revert Waiting for obstacle, Maximum path deviation, Maximum distance from path (software 3.x only) and Obstacle history clearing to their standard settings.

Starting a new mission does not revert the values back to their standard settings. You must change the values in a mission using Planner settings actions.

Enable Line-following mode in a Planner zone

1. Sign in to the robot interface, go to Setup > Maps, and either create a new map or edit an existing map. To edit an existing map, select Edit  for the map you want to modify. To create a new map, select Create.

   

2. In the map, create a Planner zone covering the area where the robot must drive in Line-following mode.

   

3. Add a Waiting for obstacle action to the zone, and set it to -1.

   

4. Add a Maximum path deviation action to the zone, and set it to the distance the robot may deviate from its path.

   • For strict Line-following, set the value to 0.

   • For semi-strict Line-following, set the value to the distance in meters the robot may deviate.

     

5. It is recommended to add an Obstacle history action to the zone, and set it to Clear all. To do this, select Obstacle history in the list, select Add, and under Obstacle history clearing, set the value to Clear all.

   

6. Select OK when you have finished. The robot will now drive in Line-following mode whenever it enters the Planner zone.

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