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Published in:
2006 | OriginalPaper | Chapter
On Improving Mobile Robot Motion Control
Author : Michail G. Lagoudakis
Published in: Advances in Artificial Intelligence
Publisher: Springer Berlin Heidelberg
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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.