Wheeled Mobile Robots the complete guide in 2020
Wheeled Mobile Robots.
Upon completion of the course, the students should able to:
• Learn algorithmic approaches, mathematical models, and computational and motion control methods applicable to mobile robotic systems
• Learn basic sensor systems related to state measurements, navigation, and localization.
• Learn different motion planning and navigation schemes related to mobile robots
• Recognize and analyze the basic mechanical and electrical systems concerning robots’ locomotion and manipulation
• Analyze and design the basic mobile robotic systems
INTENDED AUDIENCE : Undergraduate/graduate students interested in mobile robotics
What Will I Learn?
- Week 1:Introduction to mobile robots and mobile manipulators. Principle of locomotion and types of locomotion. Types of mobile robots: ground robots (wheeled and legged robots), aerial robots, underwater robots and water surface robots.
- Week 2:Kinematics of wheeled mobile robot, degree of freedom and maneuverability, generalized wheel model, different wheel configurations, holonomic and non-holonomic robots.
- Week 3: Dynamics of mobile robot: Lagrange-Euler and Newton-Euler methods. Computer based dynamic (numerical) simulation of different wheeled mobile robots.
- Week 4:Sensors for mobile robot navigation: magnetic and optical position sensor, gyroscope, accelerometer, magnetic compass, inclinometer, tactile and proximity sensors, ultrasound rangefinder, laser scanner, infrared rangefinder, visual and motion sensing systems.
- Week 5:Robot navigation: Localization, Error propagation model, Probabilistic map based loclaisation, Autonomous map building, Simultaneous localization and mapping (SLAM).
- Week 6:Motion and path planning: collision free path planning and sensor-based obstacle avoidance.
- Week 7: Motion control of mobile robots: Motion controlling methods, kinematic control, dynamic control and cascaded control.
- Week 8:Introduction to modern mobile robots: Swarm robots, cooperative and collaborative robots, mobile manipulators, autonomous mobile robots.