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In robotics, one of the most important features that everyone requires is we ordered the robot to go

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to a certain location and it X-Y to replayed meeting on the ground and the robot reaches that from that

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specific point on the ground that is known as go to goal.

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In this technique, there are two things.

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One is the distance and the second is the angle that we have to take it off.

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What do I mean by that?

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Let's understand it with a representation and then we will have a better understanding.

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Suppose we have this to display an x and y know when we have these coordinates and x and y we are in

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a 2D.

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Okay.

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And we are supposing that our robot was at Origin at first.

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Now we say that our robot is at this specific location.

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We can see at this specific location.

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Okay.

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And this is the middle point.

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We are not right now explaining the orientation of the robot.

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We are just finding the angle and the distance.

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And we will come back to the orientation point to according to the x y i robot is x one or two of x

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and one of why.

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Okay.

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The goal position that we want specifically is this specific position we want for our robot.

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This is the goal position.

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This is the initial position.

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Now goal position is three in X and three Y.

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We want the robot to move from initial position to goal position and that three three is our goal position.

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What is the process of making the robot go to that specific point?

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That's the main question.

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Coming to the answer is, first, we need to calculate the distance between these two points that is

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applied to this formula, which is known as including distance.

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You can Google about it.

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It's really interesting, including distance.

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And I think we should first calculate that due to distance online, I have all opened up the would be

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calculated match distance can that distance that's the other only calculator is the the page that is

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providing us this facility.

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So the first point is two of X and one of Y three affects entry of right is the second one.

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So in our specific example, the distance is equal to a distance, one that we are calculating is

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2.23.

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And what's the angle for our first reading?

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Because we are now applying the angle formula as well to calculate the angle.

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We just you know, we can see and find that we need to apply y2 minus y one in our case y2 three minus

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y1 one is equal to two, so that becomes two and for x it becomes three minus two, one, three by one

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and arch ten or tangent inverse of three that is going to be one of 71.56, 71.56 and in radians it

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becomes 1.24.

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So our robot what this is actually represent if I draw the axis here a robot is saying that the angle

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to this goal keeping the X on the horizontal axis and Y on the vertical axis and putting the robot on

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the origin, it makes an angle of 71.56 and if we visually see it, it is convincing that this calculation

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is correct.

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So when we want to calculate the distance, so when we want to make the robot go to the distance, you

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first calculate the distance and the angle to it.

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Then we apply some control algorithms to make it move.

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Let's do one more example.

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In this specific case, it is now one in X and three in Y, and this is going to number two.

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Now, this is the goal and we are saying that initial position is still the same.

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So what is going to be the distance and the angle let's compute?

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In our case, we are now at a point that let me compute the distance first to it, going to the initial

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position and

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the now second position for the X is one and for Y is three.

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Okay.

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It is saying the distance is again 2.236.

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Fair enough.

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Because visually you can.

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The nation is in the middle, 2.3 on this side, 2.3 on this side.

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Coming to the angle thing, what is going to be the angle for why to make this vibrant?

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Why is actually why two is three.

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So three minus one, it becomes two.

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And why one?

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And for the x part, it is one minus two, which is minus one.

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So argent of minus one is required.

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Our tangent of minus one is the required calculation we want.

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So are tangent minus three minus two.

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Let's calculate and it is saying you need to apply -63 degrees.

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This is making -63 degrees with this specific goal.

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Number two.

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My calculation can go wrong.

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I've made some mistakes.

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But the point is, this is how you calculate distance and angle.

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Okay?

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And when we talk about the distance and angle, the next thing that we need to do in general specific

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is of for the linear of X, the command velocity, linear x is going to be given the distance, the

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distance that we have calculated from one point to the goal point and Angular Z is going to be the angle.

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That's what it is going to be simple, but we have to apply some major conditions to keep in mind that

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if it is negative, what is the initial point?

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Because we were just assuming the initial point is at Origin for for first example, in reality that's

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not the case and we have to take care of a lot of things.

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And you'll see in the court that there are a lot of things to think about and we will solve it in a

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very simple manner.