Roomba Waypoint Navigation

Generates motion commands (velocity and radius of curvature) to reach the specified waypoints.

Library

QUARC Targets/Devices/Third-Party/iRobot/Roomba/Applications

Description

The Roomba Waypoint Navigation block generates motion commands (velocity and radius of curvature) to reach the specified waypoints. It uses distance, and angle sensory data for continuous localization of the robot. 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 state output of this block shows the robot's position with respect to current waypoint.

Input Ports

wpts

Specifies the waypoints to be reached. The input must be an n x 2 matrix in which each row is a waypoint. Each waypoint includes orientation (in degrees) and distance (in mm) of a target position. For example, [90 100; -180 1000] indicates the following motion planning:

• spin 90 degree (counterclockwise) and go forward 100 mm.
• spin -180 degree (clockwise) and go forward 1000 mm.

feedback

The sensor packet returned by Roomba according to the specified sensor_id.

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

The sensor packet number is either 19 (distance) or 20 (angle). To reach a waypoint, the robot, first, rotates to the target position and moves forward to the target. Hence, this block, first, requests angle sensor packet and then requests distance sensor packet. Use this output as the packet ID input of Roomba Sensor Request or Roomba Query List block. Roomba Query List block.

states

This vector includes

• orientation (in degrees) of the current waypoint.
• distance (in mm) of the current waypoint.
• orientation (in degrees) of the robot with respect to the waypoint.
• distance (in mm) of the robot with respect to current waypoint.
• current motion type: no motion (-1), spin (0), or forward motion (1).
• index of the current waypoint (0-based).
• status of the navigation task: complete (1) and not complete (0).
• current robot x coordinate (in mm) assuming that initial (x, y) coordinate is (0, 0) mm.
• current robot y coordinate (in mm) assuming that initial (x, y) coordinate is (0, 0) mm.
• current robot orientation (in degrees) assuming that initial orientation is 0 degree.

Parameters and Dialog Box

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

See Also

• Roomba Drive
• Roomba Sensor Request
• Roomba Query List

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