Autonomous Mobile Robotics (ME 525)

2021 Fall
Faculty of Engineering and Natural Sciences
Mechatronics(ME)
3
10.00
Kemalettin Erbatur -erbatur@sabanciuniv.edu,
English
Doctoral, Master
--
Formal lecture,Laboratory
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CONTENT

The course covers fundamental problems of autonomous mobile robotics including locomotion, reception, localization, planning and navigation. In the context of locomotion, legged, wheeled, flying and swimming mobile robots will be discussed. In the reception part, various sensors that are used on mobile robots will be introduced and several sensor fusion algorithms will be presented. Localization problems will be tackled in a probabilistic framework using Markov and Kalman Filtering techniques. Simultaneous Localization and Mapping (SLAM) problem and its variations will also be introduced and discussed. Finally planning and navigation strategies will be covered.

OBJECTIVE

To teach fundamentals of autonomous mobile robotics that include locomotion, perception, localization, mapping, planning and navigation of mobile robots so that students can acquire a solid theoretical background and hands-on experience in mobile robotics.

LEARNING OUTCOME

After taking this course, students should be able to:

- evaluate various locomotion mechanisms including legged, wheeled and flying locomotions.
- analyze motion kinematics of non-holonomic wheeled mobile robots
- quantify mobility and maneuverability of wheeled robots
- design feedback controllers for motion control of the wheeled mobile robots
- select appropriate sensors for perception including non-visual and visual sensors
- implement localization algorithms using Markov and Kalman filter
- Implement simple SLAM algorithms using Extended Kalman Filter (EKF)
- Synthesize optimal paths using artificial potential functions
- demonstrate hands on experience with Lego Mindstorm EV3 robots

ASSESSMENT METHODS and CRITERIA

  Percentage (%)
Final 35
Midterm 35
Individual Project 9
Group Project 21

RECOMENDED or REQUIRED READINGS

Textbook

Introduction to Autonomous Mobile Robots, 2nd Edition, Roland Siegwart, Illah R. Nourbakhsh and Davide Scaramuzza, MIT Press, 2011.

Readings

- Computational Principles of Mobile Robotics, Gregory Dudek, Michael Jenkin, Cambridge University Press, 2010.

- Autonomous Robots, George A. Bekey, MIT Press, 2005.