Control strategies analysis using EKF applied to a mobile robot

In this work we analyze control strategies for trajectory tracking of a mobile robot that navigates in structured environments. In particular, this study focuses on the partial knowledge and with uncertainty for the estimation of the robot's state. For this: 1) We describe the robotic platform to be simulated; 2) We propose an algorithm for trajectory planning using information from a map with fixed obstacles. 3) We describe two control strategies for path following; one based on the stability theory of Lyapunov and another based on the numerical solution of the differential equation of the system. 4) We propose an Extended Kalman Filter for robot's state estimation. 5) We evaluate through computer simulations the joint behavior of the control strategy and the estimation of states, showing the feasibility of the proposal.