Author(s):
Araújo, Rui 
; Almeida, A. T. de
Date: 1998
Persistent ID: http://hdl.handle.net/10316/7638
Origin: Estudo Geral - Universidade de Coimbra
Document details
Reducing Motion Inaccuracies on a Mobile Robot
Description
In this article we present two algorithms, for reducing the effects of control-space quantisation errors on a Khepera mobile robot. Specifically, we consider that control-space quantisation is present, when there is only a finite set of available robot wheels velocities. Thus the velocities of the robot wheels can not be chosen from any point in a continuous set. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot while reducing the effects of these errors. The second algorithm can be used to perform robust straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Simulation results demonstrating the effectiveness of the algorithm will be presented. http://dx.doi.org/10.1023/A:1007978501619
In this article we present two algorithms, for reducing the effects of control-space quantisation errors on a Khepera mobile robot. Specifically, we consider that control-space quantisation is present, when there is only a finite set of available robot wheels velocities. Thus the velocities of the robot wheels can not be chosen from any point in a continuous set. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot while reducing the effects of these errors. The second algorithm can be used to perform robust straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Simulation results demonstrating the effectiveness of the algorithm will be presented. http://dx.doi.org/10.1023/A:1007978501619
Document Type
Article
Language English
Language English
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