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Mobile Robotics and Autonomous Systems

117607

6 modules · 29 topics

Module 1Introduction to Mobile Robotics5 topics
  • Introduction to Mobile Robotics
  • Robot locomotion — Types of locomotion
  • Key issues in locomotion
  • Live Reckoning
  • Mobile Robotics applications
Module 2Robot Navigation & Motion Control5 topics
  • Navigation Philosophies
  • Holonomic and non-holonomic constraints
  • Collision Avoidance
  • Path Planning for Navigation
  • Motion Control (Open loop and Feedback Control)
Module 3Perception and Control6 topics
  • Sensors for mobile robots — Classification
  • Performance and uncertainty in sensors
  • Wheel sensor, Heading sensor, Accelerometers, Inertial measurement, Motion sensor, Range sensors
  • Vision sensor
  • Basics of computer vision and image processing
  • Image to Perception and Perception to control
Module 4Localization and Mapping6 topics
  • Control Localization and Decomposition Techniques
  • Localization Problem and Challenges
  • Map Representation
  • Probabilistic Map-Based Localization
  • Simultaneous Localization and Mapping (SLAM)
  • Autonomous Map Building
Module 5Planning of Autonomous Systems5 topics
  • Path planning algorithms overview
  • A-star
  • Dijkstra
  • Voronoi diagrams
  • Probabilistic roadmaps (PRM)
Module 6Navigation of Autonomous Systems2 topics
  • Rapidly exploring Random Trees (RRT)
  • Markov Decision Processes (MDP)
Theory