IHA-4506 Advanced Robotics, 5 cr

Implementation IHA-4506 2017-01

Description

Students will learn about sensor based robot notion control. The focus will be on kinematic models of robots and sensors. Most of the methods apply to both mobile robots and manipulators, though some sections are particularly focused on wheeled robots.
1 Steering systems, maneuverability, Kinematic modeling (differential drive and articulated frame steering)
2 Kinematic based motion control: smooth path following, pure pursuit, pose control, line following
3 Path smoothing and planning,
4 Obstacle avoidance: potential field, velocity obstacles
5 Potential field for non-Euclidean and rigid body robots
6 Polygon robots and obstacles and collision checking/avoidance
7 Decoupled trajectory planning and optimal control
7 Position based visual servoing
8 Force control, impedance control
9 Robot control system architecture: mobile robots and manipulators
(10 Machine learning and robot motion control )

Assessment scale

Numerical evaluation scale (0-5)

Requirements

Excercies and project work