Estimation of Real-Time Wheeled Mobile Robot (Differential Drive) Motion & Pose with Obstacle Avoidance

This study involves four various steps for the estimation of wheeled mobile robot pose and motion. Our approach involves implementation of specific poses on RVIZ (Visual Simulator). Later step includes the involvement of one real-time robot (TurtleBot3) is used in a differential drive manner. The controlled movement of this robot has been visualized in four different steps. The first phase of the experiment is feed forward control, secondly circular motion control whereas third is a closed loop advancement and final one is a specific pose motion of the robot. Platform used for this task is python with a TurtleBot mobile robot with its navigation software. Experiment first done on the simulation software. Later this experiment has been done in a real time environment. For final pose motion of a robot simulation result is compared with actual real time experiment of TurtleBot. Results shows maximum efficiency and accuracy of our real time TurtleBot.