Title :
Reducing motion inaccuracies due to actuation-system quantisation-errors on a Khepera mobile robot
Author :
Araujo, Roberto ; De Almeida, Aníbal T.
Author_Institution :
Dept. of Electr. Eng., Coimbra Univ., Portugal
Abstract :
We present two algorithms, that can be used for minimising the effects of mobile robot control-space quantisation errors. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot while minimising the effects of these errors. The second algorithm can be used to perform 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 are presented
Keywords :
mobile robots; motion control; path planning; robot kinematics; Khepera mobile robot; actuation-system quantisation-errors; control-space quantisation errors; motion inaccuracies; pure rotations; straight-line motions; working environment; Control systems; Digital control; Error correction; Kinematics; Mobile robots; Quantization; Robot control; Sampling methods; Tiles; Wheels;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632441
