Low Level Control in States Space for the Pioneer

In this paper, a new model and low level control system based on state variables theory for the commercial robotic platform called Pioneer 2 has been developed. We have identified and modelled the robot from the angular speeds of the wheels. We have controlled the translation and rotation speed of the robot, the orientation angle and the position increments. We have used encoders as position sensors. A comparison between the default model and control proposed by Aria, commercial software of ActivMedia robotics company, for the Pioneer 2 and our controller, called Charkos, has been carried out using several tests