Author/Editor		Mahkovic, R; Čepin, P; Slivnik, T
Title		Mobile robot positioning using B-splines
Type		članek
Source		In: Hamza MH, editor. Modelling, identification and control. Proceedings of the 15th IASTED international conference; 1996 Feb 19-21; Innsbruck. Anaheim: International association of science and technology for development,
Publication year		1996
Volume		str. 35-8
Language		eng
Abstract		The problem of our own differential drive mobile robot positioning is considered in lhe paper. The robot has two additional measurement wheea to assure best contacts with the floor. Desired path should be supplied, represented by a list of vertices oj nonuniform cubic B-spline curue which posses conlinuity in veloc*ty and acceleration. Positioning error was measured by moving along closed-loop path in clockwise and counterclockwise direction. It was less than 0.2% of lhe traveled path.
Descriptors		ROBOTICS PATTERN RECOGNITION