(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS) .Vol. 2, Issue 4.pp 207-217, 2017-12-01) Zennir Youcef
Bensaci Chaima
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.