ORA352 Syllabus - Concepts In Mobile Robots - 2021 Regulation - Open Elective | Anna University

ORA352 Syllabus - Concepts In Mobile Robots - 2021 Regulation - Open Elective | Anna University

ORA352

CONCEPTS IN MOBILE ROBOTS

 L T P C

3003

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

UNIT I

INTRODUCTION TO MOBILE ROBOTICS

9

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

9

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

9

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

9

Localization Based Navigation Versus Programmed Solutions - Map Representation - Continuous Representations - Decomposition Strategies - Probabilistic Map-Based Localization - Landmark-Based 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

9

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.

TEXT BOOKS:
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.

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