Subject 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.
The subject is taught in programs
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.
Teaching and learning 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.
Expected study results
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.
Basic sources and literature
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
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University of Ljubljana, Faculty of Electrical Engineering Tržaška cesta 25, 1000 Ljubljana