How to redefine waypoints for the desired path for the robot?

I use the example here (https://www.mathworks.com/help/robotics/examples/path-following-for-a-differential-drive-robot.html) to describe a set of waypoints for the desired path using an array. The robotic controller computes control commands to reach the specified goal along the waypoints. Say, I want to update the waypoints midway to specify a different route to reach the originally specified destination. Any inputs on how I could realize this would be helpful. Thanks!

Answer 1

[Prashant Arora]

Hi Arun,

I understand that you would like to update the waypoints of the controller during simulation. You can achieve this by simply changing the "Waypoints" property of the controller using the following command:

controller.Waypoints = updatedPath;

updatedPath variable defines waypoint similar to "path" variable in the example you mentioned. You can also change the conditional convergence by re-calculating "distanceToGoal".