On improving mobile robot motion control

被引：0

作者：

Lagoudakis, MG ^{[1
]}

机构：

[1] Tech Univ Crete, Intelligent Syst Lab, Dept Elect & Comp Engn, Iraklion 73100, Hellas, Greece

来源：

ADVANCES IN ARTIFICIAL INTELLIGENCE, PROCEEDINGS | 2006年 / 3955卷

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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 cue 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.

引用

页码：551 / 554

页数：4

共 4 条

[1] The dynamic window approach to collision avoidance
Fox, D
Burgard, W
Thrun, S
[J]. IEEE ROBOTICS & AUTOMATION MAGAZINE, 1997, 4 (01) : 23 - 33
[2] Lafferriere G., 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation (Cat. No.91CH2969-4), P1148, DOI 10.1109/ROBOT.1991.131763
[3] Lagoudakis M. G., 1999, IJCNN'99. International Joint Conference on Neural Networks. Proceedings (Cat. No.99CH36339), P2011, DOI 10.1109/IJCNN.1999.832693
[4] LUCA AD, 1994, P 1994 INT C ROB AUT, P104

← 1 →