21 Aug

Roomba Control - It's Working!

Andy Nichols

We have implemented a kinematic controller to guide the Roomba to a series of setpoints. OptiTrack is completing the feedback loop with the Roomba, communicating its groundtruth at about 120 Hz. We are calculating the errors in angle and distance using linear transforms. There are still some improvements to be made through tuning and precision control, but this is a step forward!

The Video is sped up 5x

diagonalV1.mp4

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