The AvoidObsRegion group is a combination of graphical elements, including routes, points, and regions. When the specified Robot group encounters obstacles within this graphical element group or is blocked by a malfunctioning Robot, it can request a detour space for automatic detouring. The physical characteristics of the blocked Robot intersect with the region in the graphical element group, or the location is on the logical Workstation/route, which is considered as the Robot encountering obstacles within the graphical element group.

The schematic diagram of the detour space is shown below. The detour space requested by the Robot cannot be entered by other Robots if the detour has already begun. If other Robots are already inside the detour space, and there is no movement, no error, and the dispatcher has control, then the detour space can be requested; moreover, before the detour is completed, the Robots inside the space other than the detouring Robot cannot move.

Precautions

1. Before using, ensure that the parameters MAPF and G-MAPF in the configuration are turned off.

2. Before using, ensure that the parameters ObsStopDist and Load_ObsStopDist in the Robot's configuration are less than AvoidPlanDist. The recommended values for ObsStopDist and Load_ObsStopDist are half of AvoidPlanDist.