Mission Editor - ExRobotics ExR-1 Operating Manual

The gamepad controls are illustrated below:
The green button activates remote control by enabling the gamepad and drive motors.
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The blue button switches from remote control to autonomous driving.
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The yellow button deactivates remote control by disabling the gamepad.
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The red button on the gamepad stops the robot and isolates the motors, identical to the
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"Stop" icon.
The analogue joysticks are used to drive (left stick) and steer (right stick) the robot.
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Holding down the LB/RB buttons changes speed mode (slowest - no buttons pressed,
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fastest - both buttons pressed).
When in autonomous mode, the robot will stop if the connection to the driver'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. The robot will also stop if it loses sight of the
orange line. In this situation an audio/visual alarm will be triggered on the robot control screen.
5.3.

Mission Editor

This screen enables planners to construct and edit autonomous missions.
A robot mission is typically a circuit following an orange line that starts and finishes at a docking
station. During the circuit the robot will perform actions for points of interest when the robot is
located at a waypoint:
A typical action is to record a video, snapshot, sound, or sensor reading.
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Actions are targeted at points of interest (POIs). This is a 3D location at which the
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appropriate camera or sensor is targeted. Examples of POIs are valves, flanges and
pumps. To target the 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). There can be more than
one action at a POI.
Waypoints are 2D locations from which POIs are observed. There can be multiple POIs at
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a waypoint. Waypoints are defined by an array of chili-tags (see Section 7.5).
There can be multiple waypoints on a mission.
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ExRobotics B.V.
ExR-1 Robot
Operating Guide
This document is considered an uncontrolled copy when printed. Always ensure that you print and use a current version.
Copyright 2020 ExRobotics B.V.
Document No.: Owner:
20190122IP1
Version No.: 11 Ian Peerless
Date:
2020-03-31 Page 9 of 23