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ECE 595: Autonomous Mobile RobotsFall 2009Department of Electrical & Computer Engineering
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General Information
Credit(s): 3
Advances in information technology, sensors, networking, and control, present unprecedented opportunities and new challenges. We now have the infrastructure necessary to develop truly intelligent robotic systems. Multiple, autonomous, networked robots that function cooperatively in unknown, dynamic environments can realize such systems.
ECE 595 Autonomous Mobile Robots introduces the students to the challenging and exciting field of Robotics. It covers fundamental concepts in the mobility, sensing, and control capabilities of mobile robots. After an introduction to kinematics, sensing and control the students are exposed to more advanced techniques in motion planning, sensor fusion and nonlinear control. Practical mobile robot applications will be covered. These applications involve the coordination of multiple autonomous vehicles working cooperatively within uncertain environments. Finally, the future of autonomous mobile robots will be discussed.
- Time and location: M W 11:00am-12:15pm, ECE 132.
- Format: Homework will require some programming. Reading and paper presentations. One midterm exam. Term project.
Course Description (tentative)
Introduction. Robot manipulators: Kinematics, dynamics, control, architectures, and applications. Mobile Robots: Introduction, concepts and definitions. Components of a mobile robot. Kinematic models. Mobile robot control. Motion planning. Sensing and sensor fusion. Introduction to Kalman Filtering. Vision. Localization. Mapping. Multi-robot coordination. Applications of Autonomous Mobile Robots.
