Mapping - Omron LD User Manual

We suggest that you conduct a comprehensive site survey to ensure adequate wireless cov-
erage. You can test the coverage of your wireless setup by trying to ping it from various loc-
ations.
>= -40 dBm is the ideal WiFi signal strength, -60 dBm is the recommended minimum.
Bandwidth Considerations
The typical bandwidth in a fleet will average about 50 Kbps/AIV. This would increase if the
robot is connected to the Enterprise Manager 1100, and is actively viewed by MobilePlanner.
This number can increase or decrease depending on the types of commands and debugging
tools that are enabled in MobilePlanner. In any case, the bandwidth is not likely to exceed 500
Kbps per robot (0.5 Mbps).
0.5 Mbps per robot would easily fit within the capabilities of access points (>=54 Mbps). If you
have multiple access points, this number becomes even less of a concern.

4.2 Mapping

There are many options for configuring and tuning your transporter to best suit your applic-
ation.
In order to have your LD Cart Transporter perform autonomous mobile activities, you need to
make a map of its operating space. Configuration includes generation of the map that the LD
Cart Transporter will use for navigation. The cart parking goals need to be added to that map.
Use the MobilePlanner application to make the map. This manual only provides an overview
of that process, which is covered in detail in the Mobile Robot Software Suite User's Guide.
Maps may contain a variety of virtual elements which act to modify the behavior of an robot.
Virtual elements include forbidden lines and areas, speed zones, preferred-direction zones, and
more, all working to help you configure your workspace for efficient and safe performance of
your mobile application. You can also create your own virtual elements for application-specific
robot-workspace interactions.
Maps contain a variety of goals, routes, and tasks that comprise the destinations and activities
of the robot in the workspace. There needs to be a goal at every location where you want the
transporter to be able to pick up or drop off a cart. Make sure that the goal orientations leave
room for the platform to maneuver.
The tasks involved are:
Make a floor plan scan while driving the cart transporter with the joystick.
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Load that floor plan scan into MobilePlanner, on your PC, to make and edit the map.
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Add goals and docks to your map. In particular, refer to:
l
Working With Map Files > Editing a Map File >
Using the Drawing Tools > Adding Goals and Docks
in the Mobile Robot Software Suite User's Guide.
Transfer the working map to the Enterprise Manager 1100, or back to the platform, if
l
you have only one platform, to perform autonomous mobile actions.
The Enterprise Manager will automatically download the new map to each robot in
your fleet as soon the robot becomes idle.
Chapter 4: Configuration
LD Cart Transporter User's Guide, 14766-000 Rev B
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