<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1665-6423</journal-id>
<journal-title><![CDATA[Journal of applied research and technology]]></journal-title>
<abbrev-journal-title><![CDATA[J. appl. res. technol]]></abbrev-journal-title>
<issn>1665-6423</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional Autónoma de México, Instituto de Ciencias Aplicadas y Tecnología]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1665-64232024000400510</article-id>
<article-id pub-id-type="doi">10.22201/icat.24486736e.2024.22.4.2406</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Control of the reference posture of a mobile robot with differential type wheels using the intermediate point technique]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Gómez]]></surname>
<given-names><![CDATA[Ó.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
<xref ref-type="aff" rid="Aaf"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Figueroa]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Montaño]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rovira]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Estatal Península de Santa Elena  ]]></institution>
<addr-line><![CDATA[La Libertad ]]></addr-line>
<country>Ecuador</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Nacional de Colombia  ]]></institution>
<addr-line><![CDATA[Manizales ]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>00</month>
<year>2024</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>00</month>
<year>2024</year>
</pub-date>
<volume>22</volume>
<numero>4</numero>
<fpage>510</fpage>
<lpage>517</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S1665-64232024000400510&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S1665-64232024000400510&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S1665-64232024000400510&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract This manuscript aims to implement and evaluate a control approach known as a midpoint to guide a wheeled mobile robot toward a reference position and orientation. Instead of prescribing a specific path, the robot can choose any feasible way to reach the goal. The method used uses a control algorithm based on the intermediate point. Initially, a controller based on the orientation error    e  &#966; ( t ) and the distance to the target is used to guide the robot towards the desired reference point. The angular velocity  &#969; ( t ) is controlled as a function of the orientation error    e  &#966; ( t ). In contrast, the translational velocity  v   t is adjusted in proportion to the distance to the reference point. The kinematic model of the mobile robot with differential-type wheels is used to validate the algorithm. The control algorithm based on the midpoint technique is verified using a kinematic model of a wheeled mobile robot. A reference posture      x  r e f ,   y  r e f ,   &#966;  r e f and an initial posture of the robot are established. The generated trajectory is verified in simulation using the MATLAB software and physically using the mobile robot &#8220;mbot neo&#8221; from the Makeblock company. After several tests, the results show that the robot has reached the specified reference position with the required orientation.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Control]]></kwd>
<kwd lng="en"><![CDATA[mobile robot]]></kwd>
<kwd lng="en"><![CDATA[intermediate point]]></kwd>
<kwd lng="en"><![CDATA[speed]]></kwd>
<kwd lng="en"><![CDATA[odometry]]></kwd>
<kwd lng="en"><![CDATA[posture]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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