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Control Of Mobile Robot Navigation Under The Virtual World Matlab-Gazebo
Author(s) -
Chaima Bensaci,
Youcef Zennir,
Denis Pomorski
Publication year - 2017
Publication title -
algerian journal of signals and systems
Language(s) - English
Resource type - Journals
eISSN - 2676-1548
pISSN - 2543-3792
DOI - 10.51485/ajss.v2i4.46
Subject(s) - mobile robot , odometry , kinematics , computer science , robot , robot control , robot kinematics , simulation , mobile robot navigation , robot calibration , software , matlab , lyapunov function , artificial intelligence , control engineering , engineering , physics , classical mechanics , nonlinear system , quantum mechanics , programming language , operating system
In this paper, we present our navigation control approach of a mobile robot (Turtlebot 2 robot) based on the stability Lyapunov function; our mobile robot is composed of two differential wheels. The kinematic model of the robot is presented followed by the description of the control approach. A 3D simulation under the Gazebo software is developed in interaction with the kinematic model and the control approach under MATLAB-SIMULINK software. The purpose of this study is to carry out an autonomous navigation; we initially planned different trajectories then we tried to be followed them by the robot. Our navigation strategy based on its odometry information, based on robot position and orientation errors; Velocity commands are sent for the robot to follow the chosen path. Different simulations were performed in 2D and 3D and the results obtained are presented followed by the envisaged future work.

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