Graduate Education Institute · Computer Science and Engineering · Master
Course Objective
In this course, the structure, modeling and control of mobile robots as well as behavior based robotic issues are examined. Perception of environmental factors, task identification, cooperative and autonomous study will be covered.
Course Content
Structure and modeling of mobile robots, Basic controller design approaches, kinematic-dynamic models, control design
Required Resources
MOBILE ROBOTS: Navigation, Control and Remote Sensing, GERALD COOK
Robot Modeling and Control, Second Edition, Mark W. Spong, Seth Hutchinson, M. Vidyasagar
Introduction to Mobile Robot Control, Spyros G. Tzafestas
Modern Control Engineering, K. Ogata
Recommended Resources
Automatic Control Systems, Benjamin Kuo
Behavior-Based Robotics, Ronald C. Arkin
Dynamic Systems Modelling, Brian Jensen
Course Learning Outcomes
- Modeling and control of robots
Core Area Distribution
Teaching Methods
Assessment & Evaluation
ECTS / Workload
| Activity | Quantity | Duration (h) | Total Workload |
|---|---|---|---|
| Course Duration (Including Exam Week) | 14 | 3 | 42 |
| Out of Class Study Period | 14 | 3 | 42 |
| Midterm | 1 | 3 | 3 |
| Quiz | 0 | 0 | 0 |
| Assignment | 5 | 3 | 15 |
| Practice | 1 | 20 | 20 |
| Final | 0 | 0 | 0 |
Course Schedule
| Week | Subject | Preparation |
|---|---|---|
| 1 | Structure and modeling of mobile robots | |
| 2 | Control design | |
| 3 | Dynamics model | |
| 4 | Differential drive mobile robots | |
| 5 | Odometry and sensors | |
| 6 | Behavior based robotics | |
| 7 | Midterm | |
| 8 | Behavior based robotics | |
| 9 | Target detection and task allocation | |
| 10 | Obstacle detection and decision support techniques | |
| 11 | Swarm robotics | |
| 12 | Mobile robot modeling | |
| 13 | Robot Navigation | |
| 14 | Applications | |
| 15 | Applications |