[Question] How to Change the Travel Threshold (Red/Blue Dots) of an Object on A* Navigation

[jieun_roh]

Hello,

I am wondering if it is possible to change the travel threshold (red/blue dots) of an object on A* navigation.

Unfortunately, I am unable to upload the model, so I will describe the specific model situation.

[Description of Current Model]:

• Storing Tote on Rack
• System where Task Executer (AGV; A* navigation) unloads/loads Tote stored on Rack and moves it to Queue
• Rack uses Standard Rack Object
• Barrier installed directly behind Rack of the same length as Rack in the "back" direction (Barrier width is fixed)
• X node spacing and Y node spacing of A* grid are the same. However, the length of rack/tote is not an integer multiple of node spacing.

[Desired Model]

• Task Executer (AGV) unloads/loads tote only from the "front" direction of the Rack

[Current Issues]

• The travel threshold of the tote extends to nodes beyond the Barrier in the "back" direction of the Rack, causing the Task Executer (AGV) to access and unload/load from the "back" direction of the Rack.
• When reducing the size of the tote, sometimes the travel threshold of the tote ends within the barrier area, resolving the issue.
  However, depending on the relative positions of nodes and the Rack, reducing the tote size may not always solve the problem (travel threshold of the tote extends beyond the barrier area).

Therefore, I would like to inquire if it is possible to change the travel threshold of the object.

If there are any alternative solutions, please let me know for reference.

Thank you.

[moehlmann_fe]

The travel thresholds aren't really the problem here. For the offset travel portion of load/unload tasks the "Pick/Place Offset" function of the object is used to determine the target coordinates. A bigger tote would extend farther to the back of the rack so that accessing it from that side might become valid.

The safe way to ensure the correct position would be to use a Travel to Location task to send the TE to the specific coordinates of the front face of the slot.

What you can also try is to set the "Pick Place Y Offset" to a negative value in the tree of the rack. The pick/place position will be shifted by that amount relative to the local coordinate of the rack (negative meaning toward the front of the rack). That would at least make it more likely that the closest cell is in front of the rack.