Localization Goals - Omron LD-105CT User Manual

Localization Goals

You need to configure at least one localization goal. You can configure more if you want. A loc-
alization goal is needed to relocalize a lost AMR from the touchscreen.
Each localization goal should have:
a heading
l
The AMR will need to be aligned with the heading when relocalizing.
This applies to both laser and Acuity localization.
mapped features that don't change much
l
Things that get moved frequently, such as pallets, chairs, or carts do not make good
mapped features, because the map will not match what the laser is seeing.
mapped features that don't get blocked
l
If a mapped wall is often used for stacking boxes or storing carts, the laser may have
trouble seeing the wall behind those objects.
multiple visible lights, when using Acuity localization
l
The more lights the AMR can see, the better.
a high localization score
l
This represents the percent of readings that the AMR currently sees that match the fea-
tures on its map.
NOTE: Localization goals do not have to be dedicated to localization - they can
also be used as normal goals for regular use.
In MobilePlanner, select:
Config > Robot Interface > Touchscreen
From there, use ChooseLocalizationPage to set LocalizationButtonCount to the number of loc-
alization goals you want, and then specify the GoalName and ButtonLabel for each.
14766-000 Rev H LD Cart Transporter User's Manual
Chapter 4: Configuration
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