duynamrcv / tricycle_robot

The package presents the Trajectory Tracking using Lyapunov-based Nonlinear control and Localization using Extended Kalman Filter

The Tricycle Mobile Robot

Two Type of motion controlling

• The Type-1 of motion: Use the front wheel for both driving and steering
• The Type-1 of motion: Use the rear wheel for driving and the front wheel for steering

Lyapunov-based control for Trajectory Tracking

The results of the controller:

Case 1: Without noise

Case 2: With added noise to the steering angle

Extended kalman Filter for Localization

Installation and Runing

Installation

Requirement: MATLAB version 2016a or laster Download and Install:

$ git clone https://github.com/duynamrcv/tricycle_robot

Runing

Main files

Before runing, please configure the parameter. If you want to run with Type 1 of motrion control, change type = 1; or type = 2; for Type 2 of motion control in parameter.m. First, run the parameter.m file to load all parameters. Then, if you want to learn about Tracking problem, select tricycle_v2.slx If you want to learn about Localization, select kalman.m

Plot files

We used some files to show the simulation results:

• test_model.m to plot the information of robots before doing another tasks.
• tracking.m to plot the tracking results.

Others files

Other .m files are the functions used to implementation and .mat files are the information of input/output.

Documentation

The problems is presented in the problem.
The summary and implement all above problems are available in the document.