Simulation of Pose to Pose Moving of the Mobile Robot with Specified GPS Points


  • Wahab Kareem Yousif College of Engineering - University of Baghdad
  • Ahmed Abdulhsein Ali College of Engineering - University of Baghdad



Haversine, Kinematic controller, Trajectory tracking, Polar coordinates


The applications of mobile robots in rescue scenarios, surviving to search, and exploration for outdoor navigation have received increasing attention due to their promising prospects. In this paper, a simulation of a differential wheeled mobile robot was presented, implementing a Global Positioning System (GPS) data points to specified starting points, final destination, and total error.

In this work, a simple kinematic controller for polar coordinate trajectory tracking is developed. The tracking between two points, pose to pose, was specified by using the GPS data points. After that, the geodesy (GEO) formulation was used to convert the geodesy coordinate to Euclidean or polar coordinate. The Haversine equation obtained the distance between the two points.

The system performance and stability of the tracking controller are proved using the Lyapunov theorem of the stability. A python script was used in this work as a simulator. Computer simulation with pose to pose trajectory strategy conform to the simplicity of the proposed controller.


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How to Cite

Yousif, W. K. and Ali, A. A. (2020) “Simulation of Pose to Pose Moving of the Mobile Robot with Specified GPS Points”, Journal of Engineering, 26(11), pp. 195–208. doi: 10.31026/j.eng.2020.11.13.