Teach & Repeat" & "Line Following" Navigation - ExRobotics ExR-2 Operating Manual

POI the robot will usually need to change its azimuth (rotate) and in some cases will require a
camera to lift its field of view (elevate or tilt). There can be more than one task at a POI.
▪ Waypoints are 2D locations from which POIs are observed. There can be multiple POIs
associated with a waypoint.
▪ There can be multiple waypoints on a mission.
When in autonomous mode, by default the robot will stop if the connection to the robot
supervisor's control station is broken for more than 5 seconds. This means that an active control
station is required for the robot to be operational in autonomous mode.
Human robot supervisor's will typically monitor several simultaneous autonomous missions. We
recommend that this is initially limited to two simultaneous missions. This can be progressively
increased as the supervisor gains experience and the challenges of each mission are better
understood. The control station will require a separate screen for each pair of robots.
If a supervisor needs to stop a mission, they can:
▪ Press the red button on the controller which will stop all of the robots that they're
supervising.
▪ Click on the "Stop" button on the individual robot's screen.
Missions may be interrupted for a number of reasons other than supervisor intervention e.g.:
▪ Loss of wireless connection to the robot.
▪ Collision detected.
▪ Motor over-loaded.
▪ Loss of locational awareness.
▪ Gas detected.
A pop-up will usually appear to explain the interruption. The supervisor then has the option to take
control or restart the mission, sometimes from a different point. The robot will locate its position
and resume its autonomous mission even after a short detour.
7.2. "Teach & Repeat" & "Line Following" Navigation
These forms of navigation are being superseded by "Click and Inspect" navigation. However, they
may still be used for special situations or for robots that were deployed before "Click and Inspect"
was widely available. Instructions for using these forms of navigation screen are available in Version
2 of this Operating Guide.
ExRobotics B.V.
ExR-2 Robot
Operating Guide
This document is considered an uncontrolled copy when printed. Always ensure that you print and use a current version.
Copyright 2023 ExRobotics B.V.
Document No.: Owner:
20220412IP1
Version No.: 3 Ian Peerless
Date:
Page 17 of 69
2023-07-25