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Lorenna Santos Vilas Boas
LaR - Laboratório de Robótica, Departamento de Engenharia Elétrica e de Computação, Universidade Federal da Bahia, BA
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Andre G. S. Conceição
LaR - Laboratório de Robótica, Departamento de Engenharia Elétrica e de Computação, Universidade Federal da Bahia, BA
Keywords:
skid-steer robot, mobile robot, state feedback control, linear quadratic regulator, trajectory tracking
Abstract
The navigation of a mobile robot in an environment for trajectory tracking is an important application for this class. In this context, this work aims to study the implementation of a controller for trajectory tracking using the Linear Quadratic Regulator (LQR) as a state feedback control method applied to mobile skid-steering robots with wheels. Two LQR controllers are designed from two distinct state-space representations, both considering a virtual reference robot for linearization of the problem. The AGV Husky robot will be used as a test platform, resulting in a study for mobile robot navigation at the GAZEBO simulation tool.
