Module RO4210-KP04
Path Planning and Control of Wheeled Robots (PPaCWR)
Duration
1 Semester
Turnus of offer
each winter semester
Credit points
4
Course of studies, specific fields and terms:
- Master Robotics and Autonomous Systems 2019, module part, Module part Current Issues Robotics and Automation
Classes and lectures:
- RO4200-Ü: Path Planning and Control of Wheeled Robots (exercise, 1 SWS)
- RO4200-V: Path Planning and Control of Wheeled Robots (lecture, 2 SWS)
Workload:
- 45 hours in-classroom work
- 75 hours private studies
Contents of teaching:
- Students are familiarwith kinematic and dynamic modeling of wheeled mobile robots
- Students are familiar with path planning methods for wheeled robots and important issues
- Students are familiar with trajectory tracking control of wheeled mobile robots
- Students are able to implement the methods mentioned above using Matlab
Qualification-goals/Competencies:
- Classification of wheeled mobile robots
- Types of wheels and wheel configurations
- Difference between mobile robots and robot arms
- Kinematic nonholonomic constraints on wheels
- Degrees of mobility, steerability, and maneuverability
- Forward kinematics (unicycle, differential-drive robot, car-like robot, n-trailer systems)
- Inverse kinematics
- Lagrange dynamic approach
- Newton-Euler approach
- Path planning vs trajectory planning
- Trajectory planning
- Path planning using artificial potential fields
- Planning via retraction
- Planning via cell decomposition
- Probabilistic planning
- Application of MPC Controller on wheeled robots
- Trajectory tracking
- Leader-Follower trajectory tracking control
- Control of multi-robot systems
Grading through:
- portfolio exam
Responsible for this module:
- Prof. Dr. Georg Schildbach
Teacher:
- Institute for Electrical Engineering in Medicine
- Prof. Dr. Behnam Miripour Fard
Literature:
- M.W. Spong, S. Hutchinson, and M. Vidyasagar : Robot Modeling and Control 2nd ed. John Wiley & Sons, 2020
- R. Siegwart, I.R. Nourbakhsh, D. Scaramuzza : Introduction to Autonomous Mobile Robots MIT Press, 2011
- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo : Robotics - Modelling, Planning and Control 3rd Edition, Springer, 2009
- H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun : Principles of Robot Motion - Theory, Algorithms, and Implementation MIT Press, 2005
Language:
- offered only in English
Notes:
This module can only be taken as one module from the Current Issues Robotics and Automation (CS4290-KP04, CS4290) catalog.Admission requirements for taking the module:
- None
Admission requirements for participation in module examination(s):
- Successful completion of exercise slips as specified at the beginning of the semester.
Module Exam(s):
RO4210-L1: Portfolio Examination Path Planning and Control of Wheeled Robots with a total of 100 points, divided as follows:
- 60 points for submission of homework
- 40 points for an e-test
Last Updated:
17.08.2022