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.