Mobile Robot with Sensors

MOBILE ROBOTICS

Syllabus

Textbook: Berry, C.A., “Mobile Robotics for Multidisciplinary Study”, Synthesis Lectures on Control and Mechatronics, Morgan and Claypool, 2012.


Lectures Labs
Lecture 1-1   From Teleoperation to Autonomy Lecture 1-1 Slides Lecture 1-1 Notes Lab 1 Recitation
Lecture 1-2   The Hierarchical Paradigm Lecture 1-2 Slides Lecture 1-2 Notes Lab 1 – Getting to Know Your Robot: Locomotion and Odometry
Lecture 2-1   Representation and The Reactive Paradigm Lecture 2-1 Slides Lecture 2-1 Notes
Lecture 2-2  The Reactive Paradigm Lecture 2-2 Slides Lecture 2-2 Notes Lab 2 – Random Wander, Obstacle Avoidance: The Reactive Paradigm
Lecture 3-1   Feedback Control Lecture 3-1 Slides Lecture 3-1 Notes
Lecture 3-2   Designing a Reactive Implementation Lecture 3-2 Slides Lecture 3-2 Notes Lab 3 – Wall Following: Proportional-Derivative Control
Lecture 4-1   Common Sensing Techniques for Reactive Robots Lecture 4-1 Slides Lecture 4-1 Notes
Lecture 4-2   Common Sensing Techniques for Reactive Robots Lecture 4-2 Slides Lecture 4-2 Notes Lab 4 – Line Following:  Proportional-Integral Control

Lab 4 – Braitenberg Vehicles

Lecture 5-1   Mobile Robot Kinematics Lecture 5-1 Slides Lecture 5-1 Notes
Lecture 5-2   The Hybrid/Deliberative/Reactive Paradigm Lecture 5-2 Slides Lecture 5-2 Notes Lab 5– Homing: Hybrid Control
Lecture 6-1   Topological Path Planning Lecture 6-1 Slides Lecture 6-1 Notes
Lecture 6-2   Topological Path Planning Lecture 6-2 Slides Lecture 6-2 Notes Lab 6– Topological Path Planning
Lecture 7-1   Metric Path Planning Lecture 7-1 Slides Lecture 7-1 Notes
Lecture 7-2   Localization and Map Making Lecture 7-2 Slides Lecture 7-2 Notes Lab 7-Metric Path Planning (Occupancy Grid)
Lecture 8-1   Localization and Map Making Lecture 8-1 Slides Lecture 8-1 Notes
Lecture 8-2   Map Making Lecture 8-2 Slides Lecture 8-2 Notes Lab 8-Path Planning (Topological Map)
Final Project – Localization and Map Making Images
Lecture Videos Lab Videos