Why does it dock then make a 30 degree turn and roll off?

I can pick up the roomba and place it in the charger and it will charge and remove dirt from the bin.

I can tell it to go home and it will find home and go up the ramp. But it never realizes it has succeeded. Instead it decides it is mistaken and it is not home at all. It will drive off, declare failure, and wait for me to pick it up and put it back on home