The class first develops the kinematic modeling and motorization of mobile robots, illustrated by the full study of the differential drive robot. Then localization based on the Extended Kalman Filter is addressed, is illustrated by a lab which uses real data and presents a tuning methodology. Observability issues are also addressed, with practical examples. Planning methods applicable to mobile robots are studied, in particular potential field methods and the Rapidly exploring Random Tree. Control then focuses on direct applications to mobile robots: static and dynamic feedback control and Lyapunov based control, illustrated on the case of the differential drive robot.
GAETAN GARCIA (Presidente)
ANTONIO SGORBISSA (Presidente Supplente)
|25/06/2021||09:00||GENOVA||Scritto||JEMARO students must attend this exam on: June 25th, 2021|
|07/07/2021||09:00||GENOVA||Scritto||JEMARO students must attend this exam on: June 25th, 2021|
|10/09/2021||09:00||GENOVA||Scritto||JEMARO students must attend this exam on: June 25th, 2021|