Trajectory tracking control of a mobile robot using lidar sensor for position and orientation estimation

In this paper it is investigated the trajectory tracking control of a wheeled mobile robot using a laser rangefinder sensor to estimate the robot position and orientation (posture). This technique is compared with the conventional odometry method where the encoders data are used for posture estimation. The paper also presents the description of the robot as well as its mathematical modeling. Two controllers in cascade were used to implement the tracking control. A kinematics controller generates the references for internal motor speed controllers. Experimental results in an indoor environment are presented for trajectories with no obstacles.