Travels in circles or just doesn't run correctly?

tear it down and clean the dirt and dust inside of it thoroughly. Also blow compressed air in the entire motor and circuit area at 5 PSI
Reassemble and it should work like new again

I just repaired my 530 roomba last night. I used a sewing machine brush and cotton swabs. On the bottom of the roomba there is a face plate with four screws. Loosen each of these four screws and remove the face plate. DUST EVERY OPENING YOU CAN SEE, but do it gently. Use NO chemicals. Then there is the area that holds in the brush and roller cartridge. Again, loosen those four screws and remove the corner brush's screw and completely remove that little brush. Then you will carefully remove the "case" holding the brush and roller cartridge.DUST EVERY OPENING YOU CAN SEE. Wipe all the silver contact points..plates on the bottom of roomba and one inside the brush and roller cartridge. At this point, I dampened a paper towel ever so slightly with some window cleaner and wiped and dried those contact points. Then using the brush attachment on my vacuum I gently went over all areas of the body of the roomba to dislodge even more dust. Once that is done, reattach all the parts in the reverse order of how you removed them. I charged my roomba overnight and this morning she was charged and worked as if she were brand new! I hope this helps. If my solution works for you,please contact FIXYA and rate my advice.

The dust build up in these Roomba's do create a problem in all operating phases
Keep in mind if taken apart every 6 months and cleaned inside they will operate like they should

Larger debris is usually the responsibility of the brushes. Remove the bin and run the Roomba-- are the brushes actually turning? If not, call customer support for a new cleaning head module. If so, remove the grill from the back of the bin. Make sure that the little fan inside is clean, then reinstall the bin on the Roomba and run it. If that little fan doesn't spin, your Roomba has lost vacuum suction and you need a new bin.

try to replace the filter, that should work.