Intelligent mobile transport systems

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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