How to reorientate the orientation of a mobile robot to a specific angle.

Hi there, I wanted to reoreintate my mobile robot to 90 degree angle (point to North side), given that the initial orientation of the mobile robot is randomly generated, how can I do that? Thanks.

target_angle = pi/2;
orientation = 2*pi*rand(1);
angular_velocity = 0.1;

- Shin -

Answer 1

[Torsten]

You mean change

orientation_old = [2*pi*rand(1),0]

orientation_old = 1×2

1.3872 0

to

orientation_new = fliplr(orientation_old)

orientation_new = 1×2

0 1.3872

?

[Shin]

Hi Torsten, I mean changing the pointing direction. For example 1.3872 is the initial orientation, and I want it to rotate to the 90 degree position which pointing upwards. Thanks

So far I have somethig like this,

target_angle = pi/2; % target orientation angle
current_angle = 2*pi*rand(1);; % current orientation angle
angular_velocity = 0.1; 

angle_difference = target_angle - current_angle;

% Calculate the time needed to complete the rotation
rotation_time = abs(angle_difference) / angular_velocity;

[Torsten]

Yes, the vector "orientation_old" points to the right and the vector "orientation_new" points upwards, thus rotated by 90 degrees.

[Torsten]

Like this ?

But it's not clear if the rotation should be clockwise or counter-clockwise, I guess.

rng("default")
target_angle = pi/2; % target orientation angle
current_angle = 2*pi*rand(1); % current orientation angle
omega = 0.1;
angle = @(t) current_angle + omega*t*(target_angle - current_angle)/abs(target_angle - current_angle);
t = linspace(0,abs(target_angle - current_angle)/omega,100);
plot(t,angle(t))