Using Manual Assistance in Determining Path

You can manually assist the Path Planning solver to find a collision-free path.

The Manual Assistance command enables you to propose points manually while the Path Planning solver runs in the background. It computes collision-free points from the ones you propose.

See Also
Context Toolbars
  1. Select a Track and from the Simulation section of the action bar, click Path Planning .
    The start T-Point , the end T-Point , and the context toolbar appear.
  2. Click Find Track . The Path Planning solver starts running. Click Manual Assistance .

    Note: The Manual Assistance command is not available if a Guiding path is specified on the Track.

    The initial Robot position is specify at the last computed point. You can then move the Robot. You can also select any red dot to change the Robot position before moving it.
  3. To propose manual points, drag the Robot using the handles.
    A yellow ghost appears and follows the Robot as it moves.
    Notes:
    • Because the Track is updated only at the end of the computation and not in real time when you move the Robot, the Undo and Redo commands are disabled.
    • The moving objects stop at the last collision-free point. To return the Robot to the last collision-free point, click Move Robot To Last Valid Point .
  4. Optional: To change the position and orientation of the Robot, click Detach Robot to Re-align .
    The Robot changes color and you can drag it in any direction. To reattach it, click Attach Robot .
  5. Optional: You can change the initial Robot position several times without closing the Manual Assistance command. To do so, select a red dot and move the Robot, then select a second red dot in another area and move the Robot again.
  6. To close the Manual Assistance command, click Exit. The Find Track toolbar is displayed. Wait for the computation to finish.
    The Track is updated.