A Mobile Robot Tracking Controller Design and Implementation on ROS-MATLAB based Experiment System

The aim of this paper is solving the problem of an autonomous mobile robot indoor trajectory tracking based on Simultaneous Location And Mapping (SLAM) technique. Faced with the high-cost experiment equipment, this paper introduces a solution via lower-cost hardware. In addition, the system improves mobile robot tracking rate of accuracy by an adaptive controller. Therefore, it can help to rapid development for self-driving industry regarding cost-effectiveness. Similar with a human driver, the adaptive controller optimizes the mobile robot movement based on Lyapunov direct method. In addition, the controller implementation task was finished on a practical low-cost mobile robot, Turtlebot2. In future, the research will focus on a path-planning algorithm when the mobile robot moving on the way and facing with coming obstacles. This technology can be applied to the self-driving car in industry, and improves the feasibility of outdoor automatic logistics.