REDUCING MOTION INACCURACIES ON A MOBILE ROBOT

In this article we present two algorithms, for reducing the effects of control-space quantisation errors on a Khepera mobile robot. Specific ally, we consider that control-space quantisation is present, when the re 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 rotati ons (no translation) of the mobile robot while reducing the effects of these errors. The second algorithm can be used to perform robust stra ight-line motions, between the mobile robot current position, and a pr edefined goal position in its working environment. Simulation results demonstrating the effectiveness of the algorithm will be presented.