Welcome to The Robot Localization with Position Control Project

The subject of this project is the motion control problem of wheeled mobile robots. With reference to the unicycle kinematics, we review and compare several control strate- gies for trajectory tracking and pose stabilization in an environment free of obstacles. Project is developed for a two-wheel di.erentially-driven mobile robot.

Wheeled Mobile Robots

Wheeled mobile robots are increasingly present in industrial and service robotics, par- ticularly when exible motion capabilities are required on reasonably smooth grounds and surfaces. Several mobility con.gurations (wheel number and type, their location and actuation, single- or multi-body vehicle structure) can be found in the applications. The most common for single-body robots are di.erential drive and synchro drive (both kinematically equivalent to a unicycle), tricycle or car-like drive, and omnidirectional steering.

Beyond the relevance in applications, the problem of autonomous motion planning and control of robots have some theoretical challenges. In particular, these systems are a typical example of nonholonomic mechanisms due to the perfect rolling constraints on the wheel motion.

In the absence of workspace obstacles, the basic motion tasks assigned to a wheel mobile robot may be reduced to moving between two robot postures and following a given trajectory. The robot position control indicates that the problem is truly nonlinear; linear control is ine.ective, even locally. So the aim of this project is to provide robot position control in a theoretical ap- proaches that reduce the errors.