Course: Mobile Robotics
Code: 3ФЕИТ01009
ECTS points: 6 ECTS
Number of classes per week: 3+0+0+3
Lecturer: Prof. Dr. Elizabeta Lazarevska
Course Goals (acquired competencies): To master the techniques for mobile robots localization, planning and navigation and to be able to successfully implement them in navigating a mobile robot.
Course Syllabus: Introduction: history, classification, application, examples of mobile robots. Locomotion: legged and wheeled mobile robots, configurations and actuators, mathematical models of mobile robots kinematics and dynamics. Sensors for mobile robots: sensor classification, non/vision and vision sensors. Mobile robot localization: classification, speed, position and orientation of a mobile robot based on sensor information, fusion of sensors information, application of Kalman filters. Mobile robots planning and navigation: planning and navigation algorithms, map representation, avoiding of obstacles, trajectories planning. Aerial and under water mobile robots. Multi-robot systems.
Literature:
|
Required Literature |
||||
|
No. |
Author |
Title |
Publisher |
Year |
|
1 |
Roland Siegwart | Introduction to Autonomous Mobile Robots | MIT-Press | 2004 |
|
Additional Literature |
||||
|
No. |
Author |
Title |
Publisher |
Year |
|
1 |
Gerald Cook | Mobile Robots-Navigation, Control and Remote Sensing | Wiley and Sons, Inc. | 2011 |
|
2 |
Alonzo Kelly | Mobile Robotics: Mathematics, Models, and Methods | Cambridge University Press | 2013 |
