A Study on the Navigation and Control Methods for Turtlebot3 Robot Using ROS

This paper reports a study on the design of a control methodology for a differential drive wheeled mobile robot (DDWMR) that integrates smooth reference trajectory generation using Bézier curves with a proportional (P) controller to achieve the aforementioned tasks. The proposed methodology first generates a polynomial function-type reference trajectory to seamlessly connect the initial and final poses of the DDWMR. Subsequently, a P control law is designed to enable the DDWMR to track the pre-generated reference trajectory with minimum transient and steady-stat errors. By integrating Bézier curve-based trajectory planning with a P control approach, the proposed approach offers an efficient solution for autonomous navigation of DDWMRs and also addresses the complexities posed by their nonholonomic constraints. The effectiveness of the proposed approach is shown through simulations on MATLAB and robot operating system (ROS) softwares which demonstrate the robot’s ability to perform collision-free movement and navigation.