Mobile Robots

This course presents fundamentals of wheeled mobile robots modelling, control andlocalization.

Objectives:

This course presents fundamentals of wheeled mobile robots modelling, control andlocalization.

Contents:

The following subjects will be addressed:

• Non holonomic constraint equations,
• Classification of robots, using the degrees of mobility and steering,
• Posture kinematic model,
• Configuration kinematic model,
• Motorisation of wheels,
• Dynamic models including the contact model,
• Trajectory generation,
• Controllability and stabilisation, static and dynamic feedback linearization, nonlinear control based on Lyapunov,
• Relative localisation: odometry, inertial systems.
• Absolute localisation: GPS, sensor fusion,
• 3D range measurements and goniometry,
• Analysis of the observability of robot location,
• Path planning.

Practical Work:

The students will program mobile robots to follow some prescribed trajectories and to implement control laws taking into account the Cartesian localization.

Recommended texts:

• C.Canudas, B. Siciliano, G.Bastin (editors), Theory of Robot Control, Springer-Verlag, 1996. (chapters 7,8, and 9)
• Ch. Ahikencheikh, A. Seireg, Optimized-Motion Planning; Theory and Implementation. John Wiley 1994.
• R.Siegwart I.R. Nourbakhsh, Intrduction to Autonomous Mobile Robots, MIT Press second edition 2010. B.Siciliano, O.Khatib,edt , Robots Handbook, Springer-Verlag 2008, Chapters 17, 34, 35.

After completing this course, the students will be able to:

• Generate the motion trajectories considering the robot constraints,
• Simulate the robot motion,
• Implement suitable control strategy,
• Choose an appropriate localization system for a mobile robot,
• Design and implement localization systems using various state observers.

30% continuous assessment, 70% from end-semester examination.