Controladores LQR aplicados ao Robô Móvel Skid-Steer com Rodas para Rastreamento de Trajetórias

The navigation of a mobile robot in an environment for trajectory tracking is an important application for this class. In this context, this work aims to study the implementation of a controller for trajectory tracking using the Linear Quadratic Regulator (LQR) as a state feedback control method applied to mobile skid-steering robots with wheels. Two LQR controllers are designed from two distinct state-space representations, both considering a virtual reference robot for linearization of the problem. The AGV Husky robot will be used as a test platform, resulting in a study for mobile robot navigation at the GAZEBO simulation tool.