Course: Mobile Robotics
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.
|Roland Siegwart||Introduction to Autonomous Mobile Robots||MIT-Press||2004|
|Gerald Cook||Mobile Robots-Navigation, Control and Remote Sensing||Wiley and Sons, Inc.||2011|
|Alonzo Kelly||Mobile Robotics: Mathematics, Models, and Methods||Cambridge University Press||2013|