Applying Classical Control to Unicycle Robot Navigation

Abstract

This study aims to evaluate the performance of a Proportional-Integral-Derivative (PID) controller in guiding a mobile robot of the unicycle type along two reference trajectories: circular and figure-eight. The proposed approach starts with precise kinematic modeling of the robot, followed by the design and implementation of a PID control strategy. The effectiveness of the system is then assessed through detailed simulations conducted in the MATLAB environment.