Control concept for the simulation of a nonholonomic mobile robot with two steerable axes using MATLAB®

In this paper we discuss a control concept for a mobile robot. We demonstrate the robot type ASTro which is currently under development. This small- size robot has two steerable axes and will be used as a testbed system. We show the modelling for this type of robot and the realization with MATLAB®. The simulation shall enable the user to select a certain position within the mission area to command the robot to move to this point. The robot uses an event- driven, graph- based control scheme to determine whether the target is within the range it can reach directly or whether it is necessary to include an extra turn. The area borders are considered which may force the robot to perform a double bend to reach the target