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On Improving Mobile Robot Motion Control

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Advances in Artificial Intelligence (SETN 2006)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 3955))

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Abstract

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.

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References

  1. Lafferriere, G., Sussmann, H.: Motion planning for controllable systems without drift. In: Tarn, T. (ed.) Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, pp. 1148–1153. IEEE Press, Los Alamitos (1991)

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Author information

Authors and Affiliations

  1. Intelligent Systems Laboratory, Department of Electronic and Computer Engineering, Technical University of Crete, 73100, Kounoupidiana, Chania, Crete, Hellas, Greece

    Michail G. Lagoudakis

Authors
  1. Michail G. Lagoudakis
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Editor information

Editors and Affiliations

  1. Computer Science Department of University of Crete, Greece

    Grigoris Antoniou

  2. Institute of Computer Science, Foundation for Research & Technology – Hellas (FORTH), Vassilika Vouton, P.O. Box 1385, 71110, Heraklion, Greece

    George Potamias

  3. Institute of Informatics and Telecommunications, NCSR "Demokritos", 15310 A., Paraskevi Attikis, Greece

    Costas Spyropoulos

  4. Institute of Computer Science, FO.R.T.H., Vassilika Vouton, P.O. Box 1385, GR 71110, Heraklion, Greece

    Dimitris Plexousakis

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© 2006 Springer-Verlag Berlin Heidelberg

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Lagoudakis, M.G. (2006). On Improving Mobile Robot Motion Control. In: Antoniou, G., Potamias, G., Spyropoulos, C., Plexousakis, D. (eds) Advances in Artificial Intelligence. SETN 2006. Lecture Notes in Computer Science(), vol 3955. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11752912_66

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  • DOI: https://doi.org/10.1007/11752912_66

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-34117-8

  • Online ISBN: 978-3-540-34118-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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