Goals And Tasks - Omron HD-1500 Platform User Manual

3 Installation
AMR Physical HAPS Configuration
Adjust the following parameters in the Robot Physical section of MobilePlanner to configure the use of
the HAPS sensor.
GuideSensor_Front parameter settings:
• Check the AutoConnect check box.
• Set the Port parameter value to /dev/ttyUSB3.
GuideSensor_Rear parameter settings:
• Check the AutoConnect check box.
• Set the Port parameter value to /dev/ttyUSB4.
AMR Operational HAPS Configuration
Adjust the following parameters in the Robot Operation section of MobilePlanner to configure the use
of the HAPS sensor.
Additional Information
Parameter settings described in AMR Physical HAPS Configuration on page 3-32 must be per-
formed to make the following configuration items accessible.
Adjust the following parameters in the FollowGuide area according to your application requirements.
• ApproachSpeed
• FollowingSpeed
• ReverseFollowingSpeed
• SlowCaptureSpeed
• followingAccel
• followingDecel
• FrontClearance
• SideClearance
• AvoidLocationDependentObstacles
3-9-3

Goals and Tasks

There are two tasks associated with the HAPS option: FollowGuide and Engage. Information about
parameters for these tasks is provided below for configuration of the HAPS option.
Additional Information
In this context, a goal is considered as a goal on the AMR's map. It is used as a starting point
for tasks that will drive the AMR along the tape, stopping at markers along the tape. There will
be no goals on the tape itself.
FollowGuide Task
The FollowGuide task has the following parameters:
• successCriteria
3-32
HD-1500 Platform User's Manual (I645)