Intelligent mobile transport systems

Course description

Introduction: a review of autonomous mobile systems with consideration to the type of actuation and usage. Perception and reasoning about space: sensory systems, sensory

integration, parameters and state identification, localization, navigation in the space, map building. Mathematical modelling and simulation: kinematic and dynamic model, environment interaction model, interaction model man/machine. Control: path planning, drive control, interaction control, multiagent systems, manipulation. Active safety systems: stability control, obstacle avoidance, collision avoidance, tracking.

Course is carried out on study programme

Objectives and competences

The subject covers the area of intelligent  mobile systems incorporating mobile robots and autonomous vehicles. The aim of the course is to acquire knowledge necessary for understanding priciples of control, perception and reasoning about space, mathematical modelling and simulation, and stability and safety assurance of robotic mobile systems.

Learning and teaching methods

Lectures give the theorethical background about presented chapters thematics togehter with demonstration of simple practical examples. Students accomplish an individual seminar work in which with own solutions address more complex problems.

Intended learning outcomes

Knowledge and understanding:

Knowledge of description of pose, motion and stability parameters for mobile systems. Understanding of environment perception and sensory data fusion.  Knowledge of control principles for mobile systems. Usage of learned knowledge in practical work with mobile robots.

Reference nosilca

Ambrožič L, Goršič M, Geeroms J, Flynn L, Lova M, Kamnik R, Munih M, Vitiello N (2014) Cyberlegs: a user-oriented robotic transfemoral prosthesis with whole-body awareness control. IEEE robot autom mag 21:82-93

Šlajpah S, Kamnik R, Munih M (2014) Kinematics based sensory fusion for

wearable motion assessment in human walking. Comput methods programs biomed 116:131-144

Ambrož M, Prebil I, Kamnik R, Munih M (2012) System for interactive scientific driving simulation with haptic information. Adv eng softw 45:239-251

Činkelj J, Kamnik R, Čepon P, Mihelj M, Munih M (2010) Closed-loop control of hydraulic telescopic handler. Autom constr 19:954-963

Kamnik R, Boettiger F, Hunt K (2013) Roll dynamics and lateral load transfer estimation in articulated heavy freight vehicles. Proc Inst Mech Eng, D J automob eng, 217:985-997

Study materials

Siegwart R, Nourbakhsh IR, Scaramuza D (2004) Introduction to autonomous mobile robots, MIT Press, Cambridge

Tzafestas S (2013) Introduction to mobile robot control, Elsevier, Amsterdam

Thrun S, Burgard W, Fox D (2005) Probabilistic Robotics, MIT Press, Cambridge

Li L, Wang FY (2007) Advanced motion control and sensing for intelligent vehicles, Springer-Verlag, Berlin

Jazar RN (2009) Vehicle dynamics: Theory and application, Springer-Verlag, Berlin

Bodi na tekočem

Univerza v Ljubljani, Fakulteta za elektrotehniko, Tržaška cesta 25, 1000 Ljubljana

E:  dekanat@fe.uni-lj.si T:  01 4768 411