🤖 Control of Mobile Robots

A collection of mobile robotics control system implementations using Webots simulation environment. Learn robot navigation, localization, and autonomous behavior development through hands-on examples and practical implementations.

📝 Migration Notice: Currently migrating source code from Webots R2022a to Webots R2025a. Some implementations may be in transition.

🎯 Project Overview

Mobile robotics control systems design and implementation covering:

• 💻 Microcontroller programming and sensor integration
• ⚙️ Actuator control processes for precise movement
• 🗺️ Localization algorithms and navigation systems
• 🧠 Autonomous behavior development
• 🔧 Software interface design for robot control

📁 Repository Structure

├── ajbarea_lab1/          # 🚀 Basic robot movement and control
├── ajbarea_lab2/          # 📡 Sensor integration and feedback systems
├── ajbarea_lab3/          # 🧭 Navigation and obstacle avoidance
├── ajbarea_lab4/          # 🎛️ Advanced control algorithms
├── ajbarea_lab5/          # 📍 Localization techniques
├── ajbarea_lab6/          # 🤖 Autonomous behavior systems
├── tests/                 # ✅ Unit tests and validation
└── lint.py               # 🧹 Code quality tools

🛠️ Technology Stack

• 🌐 Simulation Environment: Cyberbotics Webots R2025a
• 🐍 Programming Language: Python 3.13+
• 🤖 Robot Platform: e-puck differential drive robot
• ⚡ Control Systems: PID controllers, state machines
• 📡 Sensors: Distance sensors, encoders, camera

🚀 Quick Start

✅ Prerequisites

• 🌐 Webots R2025a or later
• 🐍 Python 3.13+
• 🔧 Git

📥 Installation

1. Clone the repository:

   git clone https://github.com/ajbarea/control-of-mobile-robots.git
   cd control-of-mobile-robots

2. Install development dependencies:

   pip install -e ".[testing]"

3. Open any module world file in Webots and run the corresponding controller.

📚 Tutorial Modules

🚀 Module 1: Robot Fundamentals

• ⚡ Basic movement control
• 🔄 Velocity and angular velocity manipulation
• 📐 Circular and linear motion patterns

📡 Module 2: Sensor Integration

• 📏 Distance sensor calibration
• 🔄 Feedback control systems
• ⚡ Reactive behaviors

🧭 Module 3: Navigation Systems

• 🏃‍♂️ Wall following algorithms
• 🚶‍♂️ Corridor navigation
• 🧩 Maze solving strategies

⚡ Module 4: Advanced Control

• 🎯 PID controller implementation
• 📍 Trajectory following
• 🎛️ Precision movement control

📍 Module 5: Localization

• 📊 Odometry calculations
• 🎯 Position estimation
• 🔀 Sensor fusion techniques

🤖 Module 6: Autonomous Behavior

• 🧠 Decision-making algorithms
• 🔄 Multi-task coordination
• 🌐 Complex navigation scenarios

💻 Development

✅ Running Tests

python -m pytest tests/ -v

🧹 Code Quality

python lint.py

🌐 Webots Integration

Each module contains Webots world files (.wbt) and corresponding Python controllers. Open the world file in Webots and the controller will automatically load.

🎓 Usage & Learning

This repository provides practical implementations of mobile robotics algorithms. Each module builds upon previous concepts, making it suitable for:

• 📚 Students learning robotics fundamentals
• 💻 Developers implementing mobile robot control systems
• 🔬 Researchers prototyping navigation algorithms
• 🤖 Anyone interested in autonomous robot behavior

All implementations are thoroughly documented and tested. ✅