Robot Foundations 01, beginner
Make Your First Robot Move
Learn how a robot turns velocity commands into motion.
Your robot is sitting still. There is a target in front of it. Your job is to figure out how to make the robot move.
You will drive it by hand, learn how it describes its own state, and finish by writing the code that drives it to any target by itself.
Stages
Key ideas
Robot state
Position x, y and orientation θ: where the robot is and which way it faces.
Velocity commands
v is the forward speed and ω (omega) the turning speed. A differential-drive robot can only drive forward or backward and turn.
Feedback loop
Command, motion, new state, error, new command: repeated many times per second.