I'm working on a project involving a Roomba which I'd like to move precisely from coordinate to coordinate. To move the Roomba manually you need to give it a velocity between -500 to 500mm/s and a radius between -2000mm and 2000mm. (taken from this specification). The robot has two seperate wheels with each having its own velocity. If you want it to turn, one wheel has to be moving slower/faster than the other.
Now imagine my roomba is moving from (0,0) on the x axis and at (2,0) I want him to move to (6,4). To do this I have to calculate the radius of this imaginary circle. I know my current position, my current velocity (which should be irrelevant since I always move on the same radius?) and the angle between the robot and the wanted position.
How do I calculate the radius? Does the velocity matter? Is there anything else I need to consider?
I found some more information about calculating the velocities of each wheel.
It says that's basic geometry but I can't figure out how the radius and angle relates to the velocity. Is this about angular velocity?
For the equations at the bottom: is V arbitrary? Does it matter if I want to drive 200mm/s on the radius or 400mm/s?
My physics are extremely rusty, please forgive me.