ROS validation for non-holonomic differential robot modeling and control: Case study: Kobuki robot trajectory tracking controller

Abstract

this paper presents kinematic and dynamic models of non-holonomic differential-drive mobile robot (Kobuki) and validates the trajectory tracking controller results using Gazebo simulator with respect to real-time tests on Kobuki robot. The Results show the difference between the Gazebo simulated odometry and Kobuki robot real-time control test odometry. It is shown that the Gazebo simulator is efficient enough to depend-on in the absence of the hardware setup for faster development and for abroad works in research. These results are important for ROS and Gazebo users.