Reducing Motion Inaccuracies on a Mobile Robot

Authors:
Rui Araújo;A. T. De Almeida
Affiliations:
Institute of Systems and Robotics (ISR), and Electrical Engineering Department, University of Coimbra, Pólo II, Pinhal de Marrocos, 3030 Coimbra, Portugal;Institute of Systems and Robotics (ISR), and Electrical Engineering Department, University of Coimbra, Pólo II, Pinhal de Marrocos, 3030 Coimbra, Portugal
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

In this article we present two algorithms, for reducing the effects ofcontrol-space quantisation errors on a Khepera mobile robot. Specifically,we consider that control-space quantisation is present, when there is only afinite set of available robot wheels velocities. Thus the velocities of therobot wheels can not be chosen from any point in a continuous set. The firstalgorithm can be used to perform pure rotations (no translation) of themobile robot while reducing the effects of these errors. The secondalgorithm can be used to perform robust straight-line motions, between themobile robot current position, and a predefined goal position in its workingenvironment. Simulation results demonstrating the effectiveness of thealgorithm will be presented.