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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2011/2012
Faculties | School elective courses | Katalog předmětů ECTS | Česká verze
Welcome page > Faculty of Electrical Engineering > Department of Cybernetics > Mobile Robotics

Mobile Robotics

The course is not on the list Without time-table
Code Completion Credits Range Language
X33MOR Z,ZK 4 2+2s Czech
Lecturer:
Tutor:
Supervisor:
Department of Cybernetics
Synopsis:

The lecture deals with description of basic structure of mobile robots and their sensors as well as description and evaluation of typical tasks solved in mobile robotics. The lecture presents procedures for data gathering and data fusion of robot sensors, algorithms for automatic modelling of robot's environment, including approaches for simultaneous localisation and mapping (SLAM). Algorithms for trajectory planning and trajectory control for different kinds of robot's model representation are presented followed by description of specific features for cooperation and coordination of a group of autonomous mobile robots. The lecture also includes overview of interesting problems and challenges in the area of mobile robotics. The seminars are realized as a seminar project on real HW in the robotic lab.

Requirements:

Presence according to the educational rules, exam passing.

Syllabus of lectures:

1. Introduction, lecture content, history, and structure of an intelligent mobile robot

2. Sensors and their features - odometer, accelerometer, gyroscope, laser, sonar, camera

3. Models of environment and their construction I - grids, topological maps

4. Models of environment and their construction II - geometric maps, Expectation-Maximization

5. Global localization, Kidnapped Robot Problem - Markov model, particle filters, KLD sampling

6. Continual localization, SLAM - Iterative Closest Point, histograms, localization on grids, Point-to-Line, Line-to-Line, Hough transformation, probabilistic methods

7. Geometry for robotics - Voronoi diagram, visibility maps and polygons, map decomposition

8. Trajectory planning - potential field, Dijsktra, D*, Virtual Force-Field, Vector Field Histogram, BUG, BUG2, road-maps

9. Planning with constrains - C-space, dynamic constrains, planning in 3D

10. Trajectory control

11. Typical tasks in mobile robotics - exploration, inspection, cleaning, Watchman Route, Pursuer-Evader

12. Planning for a group of mobile robots

13. Localization in a group of mobile robots

14. Interesting problems and challenges in mobile robotics, examples and contests

Syllabus of tutorials:

1. Organization, labour protection, specification of the seminar work

2. Excursion to the robotic laboratory

3.-13. The seminar project solving and consultations.

14. The seminar project presentation.

Study Objective:
Study materials:

[1] Borenstein, J., Everett, B., and Feng, L.: Navigating Mobile Robots: Systems and Techniques A. K. Peters, Ltd., Wellesley, MA, ISBN 1-56881-058-X, 1996

[2] Latombe, J.C.: Robot Motion Planning, Kluwer Academic Publishers, Norwell, Mass. 1991.

[3] Dudek, G., Jenkin, M.: Computation Principles of Mobile Robotics, Cambridge University, Press, SBN 0521560217, 2000.

[4] Thrun, S. Probabilistic algorithms in robotics. AI Magazine, 21(4):93-109, 2000.

Note:
Further information:
No time-table has been prepared for this course
The course is a part of the following study plans:
Generated on 2012-7-9
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