Automatic Control of a TurtleBot3 Differential-Drive Robot

Implementation of an automatic controller for a TurtleBot3 differential-drive robot. Developed as part of the KTH course EL2450 – Hybrid and Embedded Control Systems (VT25).

• We modeled the robot’s kinematics and discretized the workspace into regions, which were abstracted as a labeled transition system with safety and behavior constraints such as obstacle avoidance and repeated region visits. Based on this model, we derived a valid high-level plan that the robot could follow.

• At the control level, we developed a hybrid controller consisting of an orientation controller and a line-following controller. The robot first aligns itself toward the target region and then drives along a straight path to its center while minimizing deviations. The controllers were designed and analyzed in discrete time, implemented in C, and tuned to ensure stability and safety.

• The correctness of the approach was verified using a simulation environment to test convergence, robustness, and safety properties. Finally, the controller was deployed on a real TurtleBot3 robot and validated through a video demonstration showing the robot autonomously executing the planned trajectory.

Simulation environment provided by the course coordinators.