ORA352 Concepts in Mobile Robots Syllabus:

ORA352 Concepts in Mobile Robots Syllabus – Anna University Regulation 2021

COURSE OBJECTIVES

 To introduce mobile robotic technology and its types in detail.
 To learn the kinematics of wheeled and legged robot.
 To familiarize the intelligence into the mobile robots using various sensors.
 To acquaint the localization strategies and mapping technique for mobile robot.
 To aware the collaborative mobile robotics in task planning, navigation and intelligence.

UNIT I INTRODUCTION TO MOBILE ROBOTICS

Introduction – Locomotion of the Robots – Key Issues on Locomotion – Legged Mobile Roots – Configurations and Stability – Wheeled Mobile Robots – Design Space and Mobility Issues – Unmanned Aerial and Underwater Vehicles

UNIT II KINEMATICS

Kinematic Models – Representation of Robot – Forward Kinematics – Wheel and Robot Constraints – Degree of Mobility and Steerability – Manoeuvrability – Workspace – Degrees of Freedom – Path and Trajectory Considerations – Motion Controls – Holonomic Robots

UNIT III PERCEPTION

Sensor for Mobile Robots – Classification and Performance Characterization – Wheel/Motor Sensors – Heading Sensors – Ground-Based Beacons – Active Ranging – Motion/Speed Sensors – Camera – Visual Appearance based Feature Extraction.

UNIT IV LOCALIZATION

Localization Based Navigation Versus Programmed Solutions – Map Representation – Continuous Representations – Decomposition Strategies – Probabilistic Map-Based Localization – LandmarkBased Navigation – Globally Unique Localization – Positioning Beacon Systems – Route-Based Localization – Autonomous Map Building – Simultaneous Localization and Mapping (SLAM).

UNIT V PLANNING, NAVIGATION AND COLLABORATIVE ROBOTS

Introduction – Competences for Navigation: Planning and Reacting – Path Planning – Obstacle Avoidance – Navigation Architectures – Control Localization – Techniques for Decomposition – Case Studies – Collaborative Robots – Swarm Robots.

TOTAL: 45 PERIODS
COURSE OUTCOMES:

Upon completion of this course, the students will be able to:
CO1: Evaluate the appropriate mobile robots for the desired application.
CO2: Create the kinematics for given wheeled and legged robot.
CO3:Analyse the sensors for the intelligence of mobile robotics.
CO4: Create the localization strategies and mapping technique for mobile robot.
CO5: Create the collaborative mobile robotics for planning, navigation and intelligence for desired applications.

TEXTBOOK

1. Roland Siegwart and IllahR.Nourbakish, “Introduction to Autonomous Mobile Robots” MIT Press, Cambridge, 2004.

REFERENCES:

1. Dragomir N. Nenchev, Atsushi Konno, TeppeiTsujita, “Humanoid Robots: Modelling and Control”, Butterworth-Heinemann, 2018
2. MohantaJagadish Chandra, “Introduction to Mobile Robots Navigation”, LAP Lambert Academic Publishing, 2015.
3. Peter Corke, “Robotics, Vision and Control”, Springer, 2017.
4. Ulrich Nehmzow, “Mobile Robotics: A Practical Introduction”, Springer, 2003.
5. Xiao Qi Chen, Y.Q. Chen and J.G. Chase, “Mobile Robots – State of the Art in Land, Sea, Air, and Collaborative Missions”, Intec Press, 2009.
6. Alonzo Kelly, Mobile Robotics: Mathematics, Models, and Methods, Cambridge University Press, 2013, ISBN: 978-1107031159.