5. Differential Drive Mobile Robots

• 5.1. Mobile Robot Programming Strategies
  • 5.1.1. Remote Host Control
  • 5.1.2. Polling and Concurrency
  • 5.1.3. Localization and Path Planning
• 5.2. GoPiGo Mobile Robot
• 5.3. Tracking the Robot Pose
  • 5.3.1. Two Frames of Reference
  • 5.3.2. The Robot’s Global Position
• 5.4. Steering the Robot
  • 5.4.1. The Unicycle Model
  • 5.4.2. The Point Forward Steering Controller
• 5.5. Localization Robotic Algorithms
  • 5.5.1. Algorithmic Behaviors
  • 5.5.2. The Cul-de-sac Problem
  • 5.5.3. Transitions Between Behaviors