MOBILE ROBOTS

MOBILE ROBOTS

_
iten
Codice
86739
ANNO ACCADEMICO
2020/2021
CFU
5 cfu al 1° anno di 10635 ROBOTICS ENGINEERING (LM-32) GENOVA
SETTORE SCIENTIFICO DISCIPLINARE
ING-INF/04
LINGUA
Inglese
SEDE
GENOVA (ROBOTICS ENGINEERING )
periodo
2° Semestre
materiale didattico

PRESENTAZIONE

OBIETTIVI E CONTENUTI

OBIETTIVI FORMATIVI

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.

DOCENTI E COMMISSIONI

Commissione d'esame

GAETAN GARCIA (Presidente)

ESAMI

Modalità d'esame

Scritto