Roomba Bump Wall-follow
Generates motion commands (velocity and radius of curvature) to reach the specified target and avoid obstacles using bump sensor.
Library
MATLAB Command Line
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qc_open_library('quarc_library/Devices/Third-Party/iRobot/Roomba/Applications')Description
The Roomba Bump Wall-follow block generates motion commands (velocity and radius of curvature) to reach a specified target position. It uses bump, distance, and angle sensory data for continuous localization of the robot and obstacle avoidance. The robot's coordinate is updated using the traveled distance and its current angular orientation with respect to its initial position. The updated coordinate may be inaccurate in case of wheel slip. The robot employs bump sensor to detect obstacles and it deploys wall-following approach to avoid the obstacle. The state output of this block shows the current robot position, orientation, distance to the target and presence of obstacles.
Input Ports
feedback
The sensor packet associated with sensor group 6 returned by Roomba (see Roomba Sensor Request block).
Output Ports
velocity
Velocity of the robot to reach the target position. Use this output as the velocity input of Roomba Drive block.
radius
Radius of curvature of the robot's motion to reach the target. Use this output as the radius input of Roomba Drive block.
sensor_id
Sensor group 6. Use this output as the packet ID input of Roomba Sensor Request block.
states
Include robot's (x, y) position, orientation, distance to the target and bump sensor's value.
Parameters and Dialog Box
Robot's Pose
The initial postion of the robot. It includes (x, y) coordinate (in mm) and orientation (in degrees) of the robot.
Target's Pose
The postion of the robot. It includes (x, y) coordinate (in mm) of the target.
Sample time
The sample time of the block. A sample time of 0 indicates that the block will be treated as a continuous time block. A positive sample time indicates that the block is a discrete time block with the given sample time. A sample time of -1 indicates that the block inherits its sample time.
Targets
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Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
Last fully supported in QUARC 2018. |
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Rapid Simulation (RSIM) Target |
Yes |
Yes |
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S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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