Mobile Robotics

Последна измена: December 5, 2019

Course: Mobile Robotics

Code3ФЕИТ01009

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 SiegwartIntroduction to Autonomous Mobile RobotsMIT-Press2004

Additional Literature

No.

Author

Title

Publisher

Year

1

Gerald CookMobile Robots-Navigation, Control and Remote SensingWiley and Sons, Inc.2011

2

Alonzo KellyMobile Robotics: Mathematics, Models, and MethodsCambridge University Press2013