Covering-Based Feedback Verification in Gazebo Simulation for Husky Mobile Robot

The study introduces a novel technique for designing feedback for systems using coverings. This approach requires more strict conditions for the solvability of r-closure equations. This method can be used to return to the planned trajectory in the presence of disturbances affecting the system at the beginning of the path. To validate the effectiveness of this approach, we apply it to the problem of controlling a mobile robot with independently controlled wheels. We present the structure of the associated covering and derive formulas for computing the feedback for the described system. Our approach considers two types of feedback, differing in whether they include a term that ensures the stabilization of the dynamic system’s motion toward the desired trajectory. Through simulations in the Gazebo environment, we demonstrate the effectiveness of proposed method.