Institutional Repository
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/4B6193D3-6A09-42D2-80AB-DF51CF590D11 | ||
| Year | 2006 | ||
| Type of Item | Conference Full Paper | ||
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| Bibliographic Citation | M. G. Lagoudakis, “On Improving Mobile Robot Motion Control,” in 4th Hellenic Conference on Artificial Intelligence (SETN), 2006, pp. 551–554. doi:10.1007/11752912_66 https://doi.org/10.1007/11752912_66 | ||
| Appears in Collections |
This paper describes two simple techniques that can greatly improve navigation and motion control of nonholonomic robots based on range sensor data. The first technique enhances sensory information by re-using recent sensor data through coordinate transformation, whereas the second compensates for errors due to long control cycle times by forward projection through the kinematic model of the robot. Both techniques have been succesfully tested on a Nomad 200 mobile robot.
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