On Improving Mobile Robot Motion Control

  • Michail G. Lagoudakis
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3955)


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.


Mobile Robot Control Command Path Planner Memory Window Range Reading 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Michail G. Lagoudakis
    • 1
  1. 1.Intelligent Systems Laboratory, Department of Electronic and Computer EngineeringTechnical University of CreteKounoupidiana, Chania, CreteGreece

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