In automated driving toolbox, how can I make an ego vehicle stop and rotate at stationary position?

Hello, I am simulating path planning for a line follower with automated driving toolbox. Since it cannot deviate from the line, it has to be able to rotate by 90degrees to turn left or right at a corner. But, I cannot figure out how to make it rotate at stationary position. Could you kindly expain how to achieve it please?

Thank you!

Answer 1

[Vishnu]

Hi Jiwoo, to make your line follower rotate by 90 degrees at a stationary position, you can utilize the differential drive controller and the Pure Pursuit path following algorithm

distanceToGoal = norm(robotInitialLocation - robotGoal);
while(distanceToGoal > 0.1) % Adjust the threshold according to your requirements
    % Update the robot's pose and compute the desired linear and angular velocities
    robotCurrentPose = [robot.CurrentPose(1:2) robotCurrentPose(3)];
    [v, omega] = pathFollower(robotCurrentPose);
    
    % Check if the robot is near a corner to perform the rotation
    currentWaypoint = pathFollower.CurrentWaypoint;
    if currentWaypoint == size(waypoints, 1) && distanceToGoal < 0.5 % Adjust the threshold according to your requirements
        v = 0; % Set linear velocity to zero to stop the robot
        omega = pi/2; % Set angular velocity to rotate 90 degrees
    end
    
    % Drive the robot based on the computed velocities
    drive(robot, v, omega);
    
    % Update the distance to the goal
    distanceToGoal = norm(robot.CurrentPose(1:2) - robotGoal);
    
    % Pause for a short duration to visualize the motion
    pause(0.1);
end

or else

% Get current heading
currentHeading = getCurrentHeading();

% Calculate desired heading
desiredHeading = currentHeading - 90; % For a left turn

% Rotate the line follower
rotate(lineFollower, desiredHeading);

Make sure to replace getCurrentHeading() with the appropriate function or method to obtain the current heading of your line follower. Adjust the code accordingly for a right turn by adding 90 degrees instead of subtracting.