Control Of Mobile Robot Navigation Under The Virtual World Matlab-Gazebo

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dc.contributor.authorZennir Youcef Bensaci Chaima
dc.date.accessioned2024-06-13T09:28:30Z
dc.date.available2024-06-13T09:28:30Z
dc.date.issued2017-12-01
dc.description.abstractIn 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.
dc.identifier.issn2543-3792
dc.identifier.urihttp://dspace.univ-skikda.dz:4000/handle/123456789/2048
dc.language.isoen
dc.publisherALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS) .Vol. 2, Issue 4.pp 207-217
dc.titleControl Of Mobile Robot Navigation Under The Virtual World Matlab-Gazebo
dc.typeArticle
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