This end of degree project suggest a new control algorithm for a differential-drive mobile robot,
based on a mathematical model that works only use robot local variables, the distance from the
line and the deviation angle between the robot axis and the tangent of the path. A state-space
feedback controller with a Luenberger observer, for the estimation of the deviation angle, had been
designed from the model. This new control algorithm enhance the robot response in any given
track. Moreover, allows the vehicle for backwards move under certain constrains, without the need
of installing a new sensor in the back part. Being a initial point for the complete development of
a control algorithm able to move in both directions.
During the development of this project the controller was tested in several numerical simulations,
this simulations are exposed and explained supporting the new solution. As well the code implemented in the robot, written in C, is annexed to the memory
