RA3501 Robot Path Planning and Programming Syllabus:
RA3501 Robot Path Planning and Programming Syllabus – Anna University Regulation 2021
COURSE OBJECTIVES
1. Introduce basic trajectory planning problems.
2. Provide a basic review of various path planning theory of manipulator.
3. Provide a basic review of various path planning theory of mobile robot.
4. Introduction to the most widely used classical motion planning algorithms.
5. Introduce sufficient terminology and concepts in ROS for robot programming.
UNIT – I TRAJECTORY PLANNING APPROACHES
Definitions – Task planning and Trajectory planning – Representation of end-effector: Cartesian and joint space schemes. Workspace Analysis: work envelope of a multi DOF manipulator. Applications: Point to point motion and continuous path motion.
UNIT – II TRAJECTORY PLANNING OF MANIPULATOR
Joint space techniques – Motion profiles – Cubic polynomial, Linear Segmented Parabolic Blends and cycloidal motion – Cartesian space technique – Straight line and circular trajectories.
UNIT – III PATH PLANNING OF MOBILE ROBOT
Introduction – Representation of the Robot’s Environment – Review of configuration spaces – Visibility Graphs – Voronoi diagrams – Potential Fields – Attractive and Repulsive – Cell Decomposition – Planning with moving obstacles – Probabilistic Roadmaps – Random trees – Execution of the Quadtree- Based Path Planner Program.
UNIT – IV PATH PLANNING ALGORITHMS
Planning – A* Algorithm – the D∗ algorithm – Path control. Graph search and discrete planning algorithms. – Sensor-Based Motion Planning Algorithms – the “Bug” algorithms – the Tangent Bug algorithm.
UNIT – V ROS PROGRAMMING
Robot language classification – Programming methods: Lead through method, teach pendent method – Syntax features and applications of various programming languages – Examples – Inter locking commands – Safety features – Introduction to Robot Operating System (ROS) – ROS examples – Introduction to programming using ROS – Industrial ROS – ROS examples – Programming for point to point /continuous – operations – Case Study
TOTAL:45 PERIODS
COURSE OUTCOME
CO1: Recognize various trajectory planning and path planning for mobile robot and Manipulator.
CO2: Classify trajectory planning and path planning for mobile robot and Manipulator.
CO3: Choose appropriate Path and Trajectory planning algorithm for various Industrial Applications.
CO4: Plan the path and trajectory for various Industrial robots and mobile robots for specific Applications.
CO5: Program the developed path and trajectory into real time robot applications.
TEXT BOOKS
1. Niku S B, “Introduction to Robotics, Analysis, Control, Applications”, John-Wiley & Sons Inc, 2011.
2. Howie Choset, Kevin Lynch Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, Sebastian Thrun , “Principles of Robot Motion-Theory, Algorithms, and Implementation”, MIT Press, Cambridge, 2005
REFERENCES:
1. Planning Algorithms by Steve LaValle (Cambridge Univ. Press, New York, 2006).
2. Principles of Robot Motion: Theory, Algorithms, and Implementations (by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun.
3. Robot Motion Planning by J.C. Latombe.
4. Patnaik, Srikanta , “Robot Cognition and Navigation An Experiment with Mobile Robots”, Springer-Verlag Berlin and Heidelberg, 2007.
5. Reza N Jazar , “Theory of Applied Robotics”, Springer, 2010.
6. Morgan Quigley, Brian Gerkey, William D. Smart, Programming Robots with Ros: A Practical Introduction to the Robot Operating System, First Edition, 2016, ISBN 9352132793; 978-9352132799