Control of wheeled mobile robot using ROS

Abstract

The Robot Operating System (ROS) is an open-source framework that allows robot developers to create robust software for a wide variety of robot platforms, sensors, and effectors. The subject of this thesis is the motion control of the wheeled mobile robot P3-DX using ROS. With reference to the kinematic model, we review several control strategies for the trajectory tracking problem. Specifically, a control based on approximate linearization, nonlinear control, and dynamic feedback linearization control. Where, the desired trajectory is carried out by the planner that uses the cubic cartesian polynomials method. Our objective encompassed the integration of ROS and the p3dx robot in order to implement the control laws for simulation and application. P2OS packages were utilized for simulation on the Gazebo environment, and the RosAria node was used as the main driver for the robot. Both the simulation and experimental results agree very well and show the usability of ROS.