减少Khepera移动机器人由于驱动系统量化误差引起的运动不准确性

Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI:10.1109/INES.1997.632441

R. Araújo, A. de Almeida

{"title":"减少Khepera移动机器人由于驱动系统量化误差引起的运动不准确性","authors":"R. Araújo, A. de Almeida","doi":"10.1109/INES.1997.632441","DOIUrl":null,"url":null,"abstract":"We present two algorithms, that can be used for minimising the effects of mobile robot control-space quantisation errors. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot while minimising the effects of these errors. The second algorithm can be used to perform straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Simulation results demonstrating the effectiveness of the algorithm are presented.","PeriodicalId":161975,"journal":{"name":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","volume":"54 80 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Reducing motion inaccuracies due to actuation-system quantisation-errors on a Khepera mobile robot\",\"authors\":\"R. Araújo, A. de Almeida\",\"doi\":\"10.1109/INES.1997.632441\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We present two algorithms, that can be used for minimising the effects of mobile robot control-space quantisation errors. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot while minimising the effects of these errors. The second algorithm can be used to perform straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Simulation results demonstrating the effectiveness of the algorithm are presented.\",\"PeriodicalId\":161975,\"journal\":{\"name\":\"Proceedings of IEEE International Conference on Intelligent Engineering Systems\",\"volume\":\"54 80 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-09-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE International Conference on Intelligent Engineering Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INES.1997.632441\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE International Conference on Intelligent Engineering Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INES.1997.632441","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

我们提出了两种算法，可用于最小化移动机器人控制空间量化误差的影响。第一种算法可用于移动机器人的纯旋转(不平移)，同时最小化这些误差的影响。第二种算法可用于在移动机器人当前位置和其工作环境中预定义的目标位置之间进行直线运动。仿真结果验证了该算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Reducing motion inaccuracies due to actuation-system quantisation-errors on a Khepera mobile robot

We present two algorithms, that can be used for minimising the effects of mobile robot control-space quantisation errors. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot while minimising the effects of these errors. The second algorithm can be used to perform straight-line motions, between the mobile robot current position, and a predefined goal position in its working environment. Simulation results demonstrating the effectiveness of the algorithm are presented.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of IEEE International Conference on Intelligent Engineering Systems

自引率

0.00%

发文量