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Module guide

Modul RO4210-KP04

Path Planning and Control of Wheeled Robots (PPaCWR)

Duration:


1 Semester
Turnus of offer:


each winter semester
Credit points:


4
Course of studies, specific field and terms:
  • Master Robotics and Autonomous Systems 2019 (module part), Module part Current Issues Robotics and Automation, Arbitrary semester
Classes and lectures:
  • RO4200-Ü: Path Planning and Control of Wheeled Robots (exercise, 1 SWS)
  • RO4200-V: Path Planning and Control of Wheeled Robots (lecture, 2 SWS)
Workload:
  • 45 Hours in-classroom work
  • 75 Hours private studies
Contents of teaching:
  • Students are familiarwith kinematic and dynamic modeling of wheeled mobile robots
  • Students are familiar with path planning methods for wheeled robots and important issues
  • Students are familiar with trajectory tracking control of wheeled mobile robots
  • Students are able to implement the methods mentioned above using Matlab
Qualification-goals/Competencies:
  • Classification of wheeled mobile robots
  • Types of wheels and wheel configurations
  • Difference between mobile robots and robot arms
  • Kinematic nonholonomic constraints on wheels
  • Degrees of mobility, steerability, and maneuverability
  • Forward kinematics (unicycle, differential-drive robot, car-like robot, n-trailer systems)
  • Inverse kinematics
  • Lagrange dynamic approach
  • Newton-Euler approach
  • Path planning vs trajectory planning
  • Trajectory planning
  • Path planning using artificial potential fields
  • Planning via retraction
  • Planning via cell decomposition
  • Probabilistic planning
  • Application of MPC Controller on wheeled robots
  • Trajectory tracking
  • Leader-Follower trajectory tracking control
  • Control of multi-robot systems
Grading through:
  • portfolio exam
Responsible for this module:
  • Prof. Dr. Georg Schildbach
Teachers:
  • Prof. Dr. Behnam Miripour Fard
Literature:
  • M.W. Spong, S. Hutchinson, and M. Vidyasagar: Robot Modeling and Control - 2nd ed. John Wiley & Sons, 2020
  • R. Siegwart, I.R. Nourbakhsh, D. Scaramuzza: Introduction to Autonomous Mobile Robots - MIT Press, 2011
  • B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics - Modelling, Planning and Control - 3rd Edition, Springer, 2009
  • H. Choset, K. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. Kavraki, and S. Thrun: Principles of Robot Motion - Theory, Algorithms, and Implementation - MIT Press, 2005
Language:
  • offered only in English
Notes:

This module can only be taken as one module from the Current Issues Robotics and Automation (CS4290-KP04, CS4290) catalog.

Admission requirements for taking the module:
- None

Admission requirements for participation in module examination(s):
- Successful completion of exercise slips as specified at the beginning of the semester.

Module Exam(s):
RO4210-L1: Portfolio Examination Path Planning and Control of Wheeled Robots with a total of 100 points, divided as follows:
- 60 points for submission of homework
- 40 points for an e-test

Letzte Änderung:
17.8.2022