Reducing Motion Inaccuracies on a Mobile Robot

• Autor(a) principal: Araújo, Rui
• Data de Publicação: 1998
• Outros Autores: Almeida, A. T. de
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10316/7638; https://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.