Teleoperation of the TurtleBot Mobile Robot using an SMC controller in environments with obstacles

Abstract

This paper presents the teleoperation of the mobile robot TurtleBot3 Burger in an environment with obstacles, a Sliding Mode Controller (SMC) and a Lyapunov controller are implemented for the velocity control of a mobile robot. The velocity reference is provided by the operator using a joystick. Teleoperation is performed by modifying the velocity reference through mechanical impedance. The velocity error is compensated through the SMC controller to enhance system robustness. Experimental tests are conducted to verify the developed algorithms, and the stability analysis is performed through Lyapunov.