Reducing position errors arising from control-space quantisation on a mobile robot

Quantisation of control space is frequently present on a mobile robot. This often results on position errors due to the finite set of available wheels velocities. In this article, the authors present two algorithms that can be used for minimising these position errors on robot motion. The first algorithm can be used to perform pure rotations (no translation) of the mobile robot. 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. Results of simulation experiments demonstrating the effectiveness of the algorithm are presented