Electromechanical design: Reactive planning and control with a mobile robot

This paper presents a mobile robot developed in the laboratory LAFMIA UMI. The proposed mobile robot satisfies a differential structure kinematic model which has undergone through extensive studies by several authors. The proposed scheme is a reactive control which aims to solve the task of tracking walls using a strategy, based on laser sensor measurements and inertial sensors. This reactive control algorithm uses the perception of the environment and takes actions that depend on the sensory information. All the actions performed by this robot happens in a controlled manner, which is achieved through proper planning of the system by introducing a built-in saturation into the PD controller for specific parts of each maneuver, which has given good results for a proposed task.