11. Motion ControlΒΆ

One of the core properties of a robot is the ability to move. In this chapter we discuss moving the robot in a predetermined or controlled manner. Given a particular path or type of motion, we address how to perform it. This falls under a large engineering discipline known as controls and we will just touch on a few concepts here. The main example we will use is the differential drive robot. It is a significant robot in its own right, and presents many of the challenges found in most mobile robotic systems.