In this paper a new model and low level control system based on state variables theory for the commercial robotic platform called Pionner 2 has been developed. We have identified and modelled the robot from the angular speeds of the wheels. We have controlled the translation and rotation speed of the robot, the orientation angle and the position increments. We have used encoders as position sensors. A comparation between the default model and control proporcioned by Aria, commercial software of ActivMedia robotics company, for the Pioneer 2 and our controller, called Charkos, has been carried out using several tests.
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